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Outline
1. Introduction
2. Sense of touch
3. Mechanics
4. Experiments
5. Conclusions
● Environment:
● Unstructured terrain
● Chaotic
● Pieces of rumble
● Priority: to find survivals quickly
● Robot properties:
● Versatility
● Flexibility
● Adaptability
Toward the sense of touch in Snake modular robots for search and rescue operations 3
1.- Introduction
Toward the sense of touch in Snake modular robots for search and rescue operations 4
1.- Introduction
Toward the sense of touch in Snake modular robots for search and rescue operations 5
2.- Sense of touch
Touch rings
Toward the sense of touch in Snake modular robots for search and rescue operations 6
2.- Sense of touch
Touch strips
Toward the sense of touch in Snake modular robots for search and rescue operations 7
3.- Mechanics
Modules
● Y1 modules family
● Cube-M family
● Joined together by screws
Toward the sense of touch in Snake modular robots for search and rescue operations 8
3.- Mechanics
Toward the sense of touch in Snake modular robots for search and rescue operations 9
4.- Experiments
Toward the sense of touch in Snake modular robots for search and rescue operations 10
4.- Experiments
Toward the sense of touch in Snake modular robots for search and rescue operations 11
4.- Experiments
Toward the sense of touch in Snake modular robots for search and rescue operations 12
6.- Conclusions
Conclusions
●Modular Snake robots are good candidates for being used in USAR
Operations
● At least, locomotion, climbing and grasping capabilities are needed
● The sense of touch is key to achieving these capabilities
● Our idea is to use touch rings and touch strips
● The early experiments are promising....
Toward the sense of touch in Snake modular robots for search and rescue operations 13
Towards the Sense of Touch in Snake Modular
Robots for Search and Rescue Operations