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Adaptive Snake Robot Locomotion: A Benchmarking Facility for Experiments

Abstract

A benchmarking facility for snake robot locomotion is presented, including the design of a snake-like robot extended with a sensor setup combining three-dimensional vision and an array of force sensors to register friction and impulse forces. A surrounding, modular environment consisting of a reconfigurable obstacle course and a ceiling mounted camera system is also presented. This enables research into adaptive obstacle-based and non-obstacle-based movement patterns for robotic snakes. Experimental results show possibilities for detailed data analysis of snake robot locomotion. Thus, the facility may be a common reference on which to experiment and evaluate future ideas.

Category

Academic chapter/article/Conference paper

Language

English

Author(s)

Affiliation

  • SINTEF Digital / Mathematics and Cybernetics
  • SINTEF Ocean / Fisheries and New Biomarine Industry
  • SINTEF Digital / Smart Sensors and Microsystems
  • Western Norway University of Applied Sciences

Year

2008

Publisher

Springer

Book

European Robotics Symposium 2008

Issue

44

ISBN

9783540783152

Page(s)

13 - 22

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