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The OmniTread serpentine robot: design and field performance
Unmanned Ground Vehicle Technology VII
This paper describes the design and performance of the OmniTread serpentine robot, developed at the University of Michigan. 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. To date, we have developed two versions of the OmniTread. The larger version, called "OT-8," has five rigid segments and four 2-Degree-of-Freedom (2-DOF) joints, and it can drive through an 8-inchdoi:10.1117/12.601486 fatcat:rlocwbiqrjerffjgrds5r6mzuy