Serpentine Robots for Inspection Tasks
Serpentine robots are snake like devices that can use their internal degrees of freedom to thread through tightly packed volumes accessing locations that people or conventional machinery cannot. These devices are ideally suited for minimally invasive inspection tasks where the surrounding areas do not have to be disturbed. Applications for these devices are therefore inspection of underground tanks and other storage facilities for classification purposes. This work deals with the design, construction, and control of a serpentine robot. The challenges lie in developing a device that can lift itself in three dimensions, which is necessary for the inspection tasks. The other challenge in control deals with coordinating all of the internal degrees of freedom to exact purposeful motion.
- Research Organization:
- Carnegie Mellon University, Pittsburgh, PA (US)
- Sponsoring Organization:
- Sponsor not identified (US)
- OSTI ID:
- 826224
- Resource Relation:
- Conference: 226th American Chemical Society Meeting, New York, NY (US), 09/07/2003--09/11/2003; Other Information: PBD: 11 Sep 2003
- Country of Publication:
- United States
- Language:
- English
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