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首页> 外文会议>Unmanned Systems Technology IX; Proceedings of SPIE-The International Society for Optical Engineering; vol.6561 >OmniTread OT-4 Serpentine Robot - new Features and Experiments
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OmniTread OT-4 Serpentine Robot - new Features and Experiments

机译：OmniTread OT-4蛇形机器人-新功能和实验

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摘要

Serpentine robots are slender, multi-segmented vehicles designed to provide greater mobility than conventional wheeled or tracked robots. Serpentine robots are thus ideally suited for urban search and rescue, military intelligence gathering, and for surveillance and inspection tasks in hazardous and hard-to-reach environments. One such serpentine robot, developed at the University of Michigan, is the "OmniTread OT-4." The OT-4 comprises seven segments, which are linked to each other by 2-degree-of-freedom joints. The OT-4 can climb over obstacles that are much higher than the robot itself, propel itself inside pipes of different diameters, and traverse even the most difficult terrain, such as rocks or the rubble of a collapsed structure. The foremost and unique design characteristic of the OT-4 is the use of pneumatic bellows to actuate the joints. These bellows allow simultaneous control of position and stiffness for each joint. Controllable stiffness is of crucial importance in serpentine robots, which require stiff joints to cross gaps and compliant joints to conform to rough terrain for effective propulsion. Another unique feature of the OmniTread design is the maximal coverage of all four sides with driven tracks. This design makes the robot indifferent to roll-overs, which are happen frequently when the slender bodies of serpentine robots travel over rugged terrain. This paper describes the OmniTread concept as well as its latest technical features, and an extensive Experiment Results Section documents the abilities of the OT-4.
机译：蛇形机器人是细长的，多节段的车辆，旨在提供比常规轮式或履带式机器人更大的机动性。因此，蛇形机器人非常适用于城市搜索和救援，军事情报收集以及危险和难以到达的环境中的监视和检查任务。密歇根大学开发的一种蛇形机器人就是“ OmniTread OT-4”。 OT-4包含七个段，它们通过2个自由度关节相互链接。 OT-4可以越过比机器人本身高得多的障碍物，将自己推进不同直径的管道内，甚至穿越最困难的地形，例如岩石或坍塌结构的瓦砾。 OT-4的最重要和独特的设计特征是使用气动波纹管来驱动接头。这些波纹管允许同时控制每个关节的位置和刚度。可控的刚度在蛇形机器人中至关重要，后者需要刚性接头来跨越缝隙，而柔性接头则要适应崎terrain的地形才能有效推进。 OmniTread设计的另一个独特功能是带驱动轨道的所有四个侧面的最大覆盖范围。这种设计使机器人对翻转无动于衷，当蛇形机器人的细长主体在崎terrain的地形上行驶时，翻转经常发生。本文介绍了OmniTread的概念及其最新的技术功能，并且广泛的“实验结果”部分记录了OT-4的功能。

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