Date of Original Version

10-2015

Type

Conference Proceeding

Rights Management

© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Abstract or Description

We present a set of modular series-elastic actuators (SEAs) that allow rapid and robust prototyping of mobile legged robots. The SEA modules were originally developed for a snake robot, SEA Snake, and have recently been reconfigured into Snake Monster, a multi-modal walking robot that can be easily adapted to hexapod, quadruped, and biped configurations. The use of SEAs allows the implementation of a compliant hybrid controller using both position and force-based walking. This paper presents the mechanical design, control architecture, and initial locomotion experiments using the Snake Monster platform. Additionally, we discuss the enhanced capabilities, pertaining particularly to search and rescue applications, enabled by the use of our modular hardware. Finally, we highlight how these modules provide a powerful tool for both field deployment requiring locomotion and manipulation tasks.

DOI

10.1109/SSRR.2015.7442943

Included in

Robotics Commons

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Published In

Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2015, 1-8.