Pneumatic Actuators for Serpentine Robot
نویسندگان
چکیده
This paper presents analytical and experimental results of an investigation of joint actuators and their suitability for a particular class of complex mechanisms: serpentine robots. In practice, serpentine robots usually comprise of multiple segments connected by joints. Some serpentine robots provide legged, wheeled, or tracked propulsion, and, in addition, actuation for the joints. We compare different types of joint actuators, paying special attention to those properties that are uniquely important to serpentine robots and propose an effective solution based on pneumatic bellows.
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