Snake robots, Biorobotics Laboratory, Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA


Modular Snake Robots

Uploaded on Mar 3, 2008

Snake robots can use their many internal degrees of freedom to thread through tightly packed volumes and access locations that people and machinery otherwise cannot. These highly articulated devices can coordinate their internal degrees of freedom to perform a variety of locomotive gaits that go beyond the capabilities of conventional wheeled and legged robots. The true power of these devices is their versatility; they can crawl, climb, swim, and scale flights of stairs.


Snake Robot Climbs a Tree

Uploaded on Aug 25, 2010

From the Biorobotics Lab at Carnegie Mellon University, a snake robot (Snakebot) demonstrates how it can climb a tree and look around.

Please keep in mind that this robot climbed a specific tree with a specific trunk width about 1 meter off of the ground. The researchers working to design, build and program these robots still have much work to do to get these bots to climb taller trees of various sizes and to navigate over branches and wires.
 

Published on Apr 24, 2013

Snake robots from the Carnegie Mellon University Biorobotics Lab are demonstrated exploring a pancaked building and demonstrating deployment from a rescue canine. Footage from TEEX Disaster City and OH TF1 Training Facility in Dayton OH. Canine Remote Deployment System (CRDS) from Ryerson University.


Carnegie Mellon Modular Snake Demo

Published on Nov 12, 2013

Carnegie Mellon show off their latest snake robot!
 

Series Elastic Snake Robot - Overview

Published on Mar 8, 2014

The Biorobotics lab at Carnegie Mellon University has developed a next-generation snake robot. The most significant new feature of this robot is the incorporation series elastic actuation in each joint. This allows compliant motions and accurate torque control of the robot's joints.

The SEA Snake is also a significant step forward in terms of its sensing, power and torque density, communication, field ruggedness, and modularity.
 

SEA Snake - Torque Control Motions

Published on May 21, 2014

This video provides an overview of some initial torque-based motions for the Series Elastic Snake Robot (SEA Snake). Because the SEA Snake has the unique ability to accurately sense and control the torque of each of its joints, it can execute life-like compliant and adaptive motions, without complex controller or tactile sensing.
 

ICRA 2013 Compliant Control

Published on Jun 12, 2014

This video demonstrates a gait-based compliant controller that allows the robot's shape to automatically adapt to its surroundings on pipes and and poles.
 

ICRA 2014 - Torque Control Strategies for Snake Robots

Published on Jun 17, 2014

This video provides an overview of some initial torque-based motions for the Series Elastic Snake Robot (SEA Snake). Because the SEA Snake has the unique ability to accurately sense and control the torque of each of its joints, it can execute life-like compliant and adaptive motions, without complex controller or tactile sensing.
 
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