Developer - Biorobotics Laboratory
Team:
Howie Choset
Simon Kalouche
Home page - SEA Modularity
Snake robots
Team:
Howie Choset
Simon Kalouche
Home page - SEA Modularity
Snake robots
Initial demonstrations of autonomous walking of "Snake Monster", a hexapod robot built with modular actuators from the Biorobotics Lab's snake robot project. The series-elastic actuators in each joint allow simultaneous position-velocity-torque control, enabling compliant motions using a simple alternating-tripod walking gait. This work is funded by the DARPA M3 program.
A robot hexapod traverses rubble and gets thrown around and stomped on. Each 1DoF joint contains a series elastic actuator (SEA).
Demonstrations of Snake Monster gripping various objects and walking using a ReFlex hand from RightHand Robotics.
Snake Monster hexapod climbs stairs, no problem.
Snake Monster (or MoJo meaning Modular Joint) is a modular and reconfigurable legged robot. In this video MoJo is configured into a hexapod that uses 18 identical series-elastic joint actuators. MoJo is being developed in the Biorobotics lab at Carnegie Mellon. Initial locomotion over flat, rugged, obstacle-filled, and snow covered terrain is demonstrated.
Demonstration using basic ankle torque strategy and arm control to balance a biped robot experiencing external disturbances. This work is being developed in the Biorobotics Lab at Carnegie Mellon University.
STORY: Move over snake robot and make way for the snake monster. Researchers at Carnegie Mellon University have taken their serpentine machines and connected them to a central hub to create one of the
Snake Monster is a modular and reconfigurable legged robot. In this video the robot is configured into a hexapod that uses 18 identical series-elastic joint actuators. Initial locomotion over flat, rugged, obstacle-filled, stairs, and snow covered terrain is demonstrated.
A demonstration of mobile manipulation with "Snake Monster," a hexapod robot built with modular actuators in the Biorobotics Lab, at the Robotics Institute of Carnegie Mellon University. Due to this robot's modular architecture, it is simple to change hardware from a passive rubber foot to a grasping end effector. The resulting leg can then be used for both locomotion and manipulation.
A festive Snake Monster opens a door to make a delivery!
Remote control operated by one person with a gamepad.
Carnegie Mellon University Biorobotics Laboratory
CMU's Biorobotics lab looks to the natural world for its diverse army of modular robotics.