Proceedings ArticleDOI
Analysis of a compliant Multi-Module Robot for circular stair climbing
Narayanan K Sathya,Gokul Narasimhan S,Madhava Krishna K +2 more
- pp 1-6
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TLDR
In this article, a survey of the existing robots in this field is done and new design considerations have been developed, and a quasi-static analysis of the robot along a circular stair is performed to confirm whether the design considerations will satisfy versatility as well as mobility, the key requirements of a true uneven terrain robot.Abstract:
The primary objective of a robot is to substitute or complement humans in life-endangering situations. The paper deals with the design and analysis of a robot suitable for such Urban Search and Rescue operation (USAR) scenarios. A survey of the existing robots in this field is done and new design considerations have been developed. Further, quasi-static analysis of the robot along a circular stair is performed to confirm whether the design considerations will satisfy versatility as well as mobility, the key requirements of a true uneven terrain robot.read more
References
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Journal ArticleDOI
The OmniTread serpentine robot for industrial inspection and surveillance
TL;DR: It was found that pneumatic bellows are optimal joint actuators for serpentine robots and can provide both strength and compliance, depending on the task, at minimal volume and weight.
Proceedings ArticleDOI
Development of active cord mechanism ACM-R3 with agile 3D mobility
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Proceedings ArticleDOI
Torque control strategies for snake robots
TL;DR: Three methods of achieving compliant motion with a snake robot by controlling the torques exerted by the joints of the robot are presented and compliant locomotion that adapts automatically to the robot's surrounding terrain is demonstrated.
Proceedings ArticleDOI
Stair Climbing using a compliant modular robot
Sri Harsha Turlapati,Mihir Shah,S. Phani Teja,Avinash Siravuru,Suril V. Shah,Madhava Krishna K +5 more
TL;DR: This work extends the functionality of a novel compliant modular robot to ascend and descend stairs of dimensions that are also typical of an urban setting by equipping the robot's link joints with optimally designed passive spring pairs that resist clockwise and counter clockwise moments generated by the ground during the climbing motion.