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The OmniTread serpentine robot with pneumatic joint actuation

G. Granosik, J. Borenstein
2005 Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.  
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

Johann Borenstein, Adam Borrell
2008 2008 IEEE International Conference on Robotics and Automation  
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

Johann Borenstein, Grzegorz Granosik, Malik Hansen, Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage
2005 Unmanned Ground Vehicle Technology VII  
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

G. Granosik, J. Borenstein
2005 IEEE/ASME transactions on mechatronics  
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]

G. Granosik, J. Borenstein
2006 Climbing and Walking Robots  
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

Johann Borenstein, Malik Hansen, Grant R. Gerhart, Douglas W. Gage, Charles M. Shoemaker
2007 Unmanned Systems Technology IX  
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

Grzegorz Granosik, Malik G. Hansen, Johann Borenstein, Manuel A. Armada
2005 Industrial robot  
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]

Grzegorz Granosik, Johann Borenstein, Malik G.
2006 Industrial Robotics: Programming, Simulation and Applications  
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

Johann Borenstein, Malik Hansen, Adam Borrell
2007 Journal of Field Robotics  
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]

Grzegorz Granosik
2007 Bioinspiration and Robotics Walking and Climbing Robots  
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]

Grzegorz Granosik
2008 New Approaches in Automation and Robotics  
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

James K Hopkins, Brent W Spranklin, Satyandra K Gupta
2009 Bioinspiration & Biomimetics  
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

Grzegorz Granosik
2013 Journal of Intelligent and Robotic Systems  
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

Marcela Lopez, Mahdi Haghshenas-Jaryani
2021 Automation  
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

William R Hutchison R Hutchison
2013 Advances in Robotics & Automation  
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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