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The OmniTread serpentine robot with pneumatic joint actuation
2005
Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.
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This paper describes the design of a pneumatic joint actuation system for the OmniTread serpentine robot, developed at the University of Michigan. ...
Some serpentine robots provide legged, wheeled, or tracked propulsion, and, in addition, actuation for the joints. ...
ACKNOWLEDGMENT We are also grateful to graduate student Malik Hansen for his work on designing and building the OmniTread segments. ...
doi:10.1109/romoco.2005.201409
dblp:conf/romoco/GranosikB05
fatcat:2qyw3svzujef7objpfdc2k6ty4
The OmniTread OT-4 serpentine robot
2008
2008 IEEE International Conference on Robotics and Automation
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One such serpentine robot, developed at the University of Michigan, is the "OmniTread OT-4" . ...
Serpentine robots are slender, multi-segmented vehicles designed to provide greater mobility than conventional wheeled or tracked robots. ...
The seven segments are connected by six pneumatically actuated 2-DOF joints, and each joint is actuated by four pneumatic bellows. Table I lists some of the OT-4's key specifications. ...
doi:10.1109/robot.2008.4543456
dblp:conf/icra/BorensteinB08
fatcat:lypgotvzpffmjhtedmggaowy6m
The OmniTread serpentine robot: design and field performance
2005
Unmanned Ground Vehicle Technology VII
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The foremost and unique design characteristic of the OmniTread is the use of pneumatic bellows to actuate the joints. ...
Serpentine robots are mobile robots that comprise of multiple rigid segments, connected by actuated joints. The segments usually have drive elements, such as wheels or tracks. ...
Joint actuation with pneumatic bellows We begin this section by an informal discussion on the particular joint actuation requirements of serpentine robots. ...
doi:10.1117/12.601486
fatcat:rlocwbiqrjerffjgrds5r6mzuy
Integrated Joint Actuator for Serpentine Robots
2005
IEEE/ASME transactions on mechatronics
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This paper first presents an analysis of the particular requirements for joint actuators in serpentine robots. ...
We have developed a joint actuator system that is highly optimized for use in serpentine robots. ...
We are also grateful to graduate student Malik Hansen for his work on designing and building the OmniTread segments. ...
doi:10.1109/tmech.2005.856222
fatcat:jovvmcdcbfay7k5sfy3bayqhge
Pneumatic Actuators for Serpentine Robot
[chapter]
2006
Climbing and Walking Robots
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Some serpentine robots provide legged, wheeled, or tracked propulsion, and, in addition, actuation for the joints. ...
We compare different types of joint actuators, paying special attention to those properties that are uniquely important to serpentine robots and propose an effective solution based on pneumatic bellows ...
One serpentine robot with pneumatic actuation is MOIRA [6] , which uses cylinder-type actuators in the space of the joints. However, in doing so joints take up even more space than segments. ...
doi:10.1007/3-540-26415-9_86
dblp:conf/clawar/GranosikB05
fatcat:f5f6moodkncktlcl5fcuj7p3ci
OmniTread OT-4 serpentine robot: new features and experiments
2007
Unmanned Systems Technology IX
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The foremost and unique design characteristic of the OT-4 is the use of pneumatic bellows to actuate the joints. These bellows allow simultaneous control of position and stiffness for each joint. ...
One such serpentine robot, developed at the University of Michigan, is the "OmniTread OT-4." The OT-4 comprises seven segments, which are linked to each other by 2-degree-of-freedom joints. ...
One major problem with pneumatic joint actuation is the difficulty of controlling the somewhat uncommon pneumatic joint actuators. ...
doi:10.1117/12.717754
fatcat:vrbxwffuzvdspmvnqovx6k6k2q
The OmniTread serpentine robot for industrial inspection and surveillance
2005
Industrial robot
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This program produced the sophisticated and complex motion strategy used for traversing the steep staircase in Fig. 7 and Fig. 28c . ...
William Hutchison who developed the "7G" computerized learning program. ...
Pneumatic Joint Actuation During our work with serpentine robots, we spent a significant amount of time on the analysis and formulation of requirements for joint actuators in serpentine robots. ...
doi:10.1108/01439910510582264
fatcat:xas2k64mbfghrk7mp62gpi6ume
Serpentine Robots for Industrial Inspection and Surveillance
[chapter]
2006
Industrial Robotics: Programming, Simulation and Applications
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This program produced the sophisticated and complex motion strategy used for traversing the steep staircase in Fig. 7 and Fig. 28c . ...
William Hutchison who developed the "7G" computerized learning program. ...
Pneumatic Joint Actuation During our work with serpentine robots, we spent a significant amount of time on the analysis and formulation of requirements for joint actuators in serpentine robots. ...
doi:10.5772/4921
fatcat:mi6bego6dvhkxk6mtdgttdmldi
The OmniTread OT-4 serpentine robot—design and performance
2007
Journal of Field Robotics
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The foremost and unique design characteristic of the OT-4 is the use of pneumatic bellows to actuate the joints. ...
One such serpentine robot, developed at the University of Michigan, is the "OmniTread OT-4." The OT-4 comprises seven segments, which are linked to each other by six joints. ...
ACKNOWLEDGMENTS The authors are grateful to the OmniTread OT-4 development team for their full-time efforts: Russ Miller, Hung Nguyen, Jack Phan, Jim Berry, Justin Tesmer, Oke Liimatta, and John Baker. ...
doi:10.1002/rob.20196
fatcat:p7c4tjet4rfcrfjdeuudgsxtju
Pneumatic Actuators for Climbing, Walking and Serpentine Robots
[chapter]
2007
Bioinspiration and Robotics Walking and Climbing Robots
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The Integrated Joint Actuator for serpentine robot Based on the discussion in section 3 we have chosen pneumatic bellows as the best-suited actuator for for serpentine robots. ...
the lifting of its first two segments to reach up to the top of a stair
Figure 25 .Figure 26 .Figure 27 . 252627 Joints of serpentine robots: OmniPede the predecessor of OmniTread with pneumatic cylinders ...
New solutions and technologies are required and hence this book is coming out to address and deal with the main challenges facing walking and climbing robots, and contributes with innovative solutions, ...
doi:10.5772/5517
fatcat:jsd5vzizmva65miaahn7dcypfe
Hypermobile Robots
[chapter]
2008
New Approaches in Automation and Robotics
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A serpentine robot that uses tracks for propulsion and pneumatics for joint actuation is MOIRA shown in Fig. 9 (Osuka & Kitajima, 2003) . ...
The 2-DOF joints between segments are actuated by pneumatic cylinders. ...
The authors and editor of this book wish to motivate people, especially under-graduate students, to get involved with the interesting field of robotics and mechatronics. ...
doi:10.5772/5401
fatcat:owynp7txznezhhquo6nr5wv3o4
A survey of snake-inspired robot designs
2009
Bioinspiration & Biomimetics
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The paper also summarizes the design challenges associated with the further advancement of the field and deploying snake-inspired robots in practice. ...
This paper will assist in familiarizing a newcomer to the field with the existing designs and their distinguishing features. ...
Opinions expressed in this paper are those of the authors and do not necessarily reflect opinions of the sponsors. ...
doi:10.1088/1748-3182/4/2/021001
pmid:19158415
fatcat:43k7lvfco5hbhdnxqn4u2olojq
Hypermobile Robots – the Survey
2013
Journal of Intelligent and Robotic Systems
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Segments are connected by 2-or 3-degree-of-freedom (DOF) joints that may or may not be powered and provide better mobility as compared with regular mobile robots. ...
This article presents a survey on hypermobile robots -a group of articulated mobile robots that typically comprise of several segments with powered wheels, tracks, or legs to propel the vehicle forward ...
A serpentine robot that uses tracks for propulsion and pneumatics for joint actuation is MOIRA shown in Fig. 12 , and described in [30] . ...
doi:10.1007/s10846-013-9985-5
fatcat:52npgy5kt5elbcmtcky3rngrcu
A Muscle-Driven Mechanism for Locomotion of Snake-Robots
2021
Automation
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The experimental data generally agreed with our model's results and the generated joint angle and torque were comparable to the current snake-like robots. ...
For this purpose, two adjacent links are connected by a pair of pneumatic artificial muscles wherein an alternate actuation of these soft actuators causes a rotational motion at the connecting joints. ...
Granosik and Borenstien [28] introduced an "integrated joint actuator", a set of pneumatic bellows attached between the links of a serpentine robot (OmniTread OT-4), which generate a 2 DOF motion. ...
doi:10.3390/automation3010001
fatcat:63trpmm5hfhurnrd6uqiijkjju
Developing Serpentine Robot Control to use Lateral Affordances
2013
Advances in Robotics & Automation
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The research extends previous serpentine robot work developing control of sagittal movements for climbing up stairs and over uneven parallel bars. ...
This paper describes the unique challenges in developing control of complex lateral movements needed by a serpentine robot to ascend steep slopes by climbing over and around affordances/obstacles on the ...
The OmniTread OT-4 serpentine robot: The OmniTread OT-4 robot, shown in Figure 1 , has seven segments, each 8.2 cm wide, 8.2 cm high, and 10.3 cm long (center segment is 10.9 cm long). ...
doi:10.4172/2168-9695.1000108
fatcat:ruuzkg3lkbchha3bv4c5z62iae
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