Pneumatic actuators for serpentine robot

被引：2

作者：

Granosik, G. ^{[1
]}

Borenstein, J. ^{[1
]}

机构：

[1] Univ Michigan, Dept Engn Mech, Ann Arbor, MI 48109 USA

来源：

CLIMBING AND WALKING ROBOTS | 2006年

关键词：

pneumatic bellows; joint actuators; serpentine robots;

D O I：

10.1007/3-540-26415-9_86

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents analytical and experimental results of an investigation of joint actuators and their suitability for a particular class of complex mechanisms: serpentine robots. In practice, serpentine robots usually comprise of multiple segments connected by joints. Some serpentine robots provide legged, wheeled, or tracked propulsion, and, in addition, actuation for the joints. We compare different types of joint actuators, paying special attention to those properties that are uniquely important to serpentine robots and propose an effective solution based on pneumatic bellows.

引用

页码：719 / 726

页数：8

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