Cited 1 time in webofscience Cited 2 time in scopus

Snake Robot with Driving Assistant Mechanism

Title
Snake Robot with Driving Assistant Mechanism
Authors
Bae, JunseongKim, MyeongjinSong, BongsubJin, MaolinYun, Dongwon
DGIST Authors
Yun, Dongwon
Issue Date
2020-11
Citation
Applied Sciences, 10(21), 1-18
Type
Article
Article Type
Article
Author Keywords
snake robotdriving assistant mechanismslopedynamic analysis
Keywords
LOCOMOTIONDESIGN
ISSN
2076-3417
Abstract
Snake robots are composed of multiple links and joints and have a high degree of freedom. They can perform various motions and can overcome various terrains. Snake robots need additional driving algorithms and sensors that acquire terrain data in order to overcome rough terrains such as grasslands and slopes. In this study, we propose a driving assistant mechanism (DAM), which assists locomotion without additional driving algorithms and sensors. In this paper, we confirmed that the DAM prevents a roll down on a slope and increases the locomotion speed through dynamic simulation and experiments. It was possible to overcome grasslands and a 27 degrees slope without using additional driving controllers. In conclusion, we expect that a snake robot can conduct a wide range of missions well, such as exploring disaster sites and rough terrain, by using the proposed mechanism. © 2020 by the authors. Licensee MDPI, Basel, Switzerland. T.
URI
http://hdl.handle.net/20.500.11750/12684
DOI
10.3390/app10217478
Publisher
MDPI AG
Related Researcher
  • Author Yun, Dongwon Bio Robotics and Mechatronics Laboratory
  • Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
Files:
Collection:
Department of Robotics EngineeringBio Robotics and Mechatronics Laboratory1. Journal Articles


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