Pasedena Conference Center, Pasadena, California, USA

ICRA'08 Paper Abstract


Paper WeC7.5

McKenna, James C. (SAIC), Anhalt, David (SAIC), Bronson, Frederick M. (Leitner-Poma), Brown, H. Ben (Carnegie Mellon University), Schwerin, Michael (Carnegie-Mellon University), Shammas, Elie (Biorobotics), Choset, Howie (Carnegie Mellon University)

Toroidal Skin Drive for Snake Robot Locomotion

Scheduled for presentation during the Regular Sessions "Biologically Inspired Robots" (WeC7), Wednesday, May 21, 2008, 17:20−17:40, 207

2008 IEEE International Conference on Robotics and Automation (ICRA), May 19-23, 2008, Pasadena Conference Center, Pasadena, CA, USA

This information is tentative and subject to change. Compiled on November 24, 2020

Keywords Biologically-Inspired Robots, Search and Rescue Robots, Biomimetics


Small robots have the potential to access confined spaces where humans cannot go. However, the mobility of wheeled and tracked systems is severely limited in cluttered environments. Snake robots using biologically inspired gaits for locomotion can provide better access in many situations, but are slow and can easily snag. This paper introduces an alternative approach to snake robot locomotion, in which the entire surface of the robot provides continuous propulsive force to significantly improve speed and mobility in many environments.



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