The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot
The term perception-driven obstacle-aided locomotion (POAL) was proposed to describe locomotion in which a snake robot leverages a sensory-perceptual system to exploit the surrounding operational environment and to identify walls, obstacles, or other structures as a means of propulsion. To attain PO...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-04-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/11/2/42 |
| _version_ | 1797409389828636672 |
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| author | Askan Duivon Pino Kirsch Boris Mauboussin Gabriel Mougard Jakub Woszczyk Filippo Sanfilippo |
| author_facet | Askan Duivon Pino Kirsch Boris Mauboussin Gabriel Mougard Jakub Woszczyk Filippo Sanfilippo |
| author_sort | Askan Duivon |
| collection | DOAJ |
| description | The term perception-driven obstacle-aided locomotion (POAL) was proposed to describe locomotion in which a snake robot leverages a sensory-perceptual system to exploit the surrounding operational environment and to identify walls, obstacles, or other structures as a means of propulsion. To attain POAL from a control standpoint, the accurate identification of push-points and reliable determination of feasible contact reaction forces are required. This is difficult to achieve with rigidly actuated robots because of the lack of compliance. As a possible solution to this challenge, our research group recently presented Serpens, a low-cost, open-source, and highly compliant multi-purpose modular snake robot with a series elastic actuator (SEA). In this paper, we propose a new prototyping iteration for our snake robot to achieve a more dependable design. The following three contributions are outlined in this work as a whole: the remodelling of the elastic joint with the addition of a damper element; a refreshed design for the screw-less assembly mechanism that can now withstand higher transverse forces; the re-design of the joint module with an improved reorganisation of the internal hardware components to facilitate heat dissipation and to accommodate a larger battery with easier access. The Robot Operating System (ROS) serves as the foundation for the software architecture. The possibility of applying machine learning approaches is considered. The results of preliminary simulations are provided. |
| first_indexed | 2024-03-09T04:14:57Z |
| format | Article |
| id | doaj.art-45c2b3fa4bb54fa7b004e292d86af231 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-09T04:14:57Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-45c2b3fa4bb54fa7b004e292d86af2312023-12-03T13:56:03ZengMDPI AGRobotics2218-65812022-04-011124210.3390/robotics11020042The Redesigned Serpens, a Low-Cost, Highly Compliant Snake RobotAskan Duivon0Pino Kirsch1Boris Mauboussin2Gabriel Mougard3Jakub Woszczyk4Filippo Sanfilippo5Department of Mechanical, Electronic and Chemical Engineering, Oslo Metropolitan University (OsloMet), 0130 Oslo, NorwayDepartment of Mechanical, Electronic and Chemical Engineering, Oslo Metropolitan University (OsloMet), 0130 Oslo, NorwayDepartment of Mechanical, Electronic and Chemical Engineering, Oslo Metropolitan University (OsloMet), 0130 Oslo, NorwayDepartment of Mechanical, Electronic and Chemical Engineering, Oslo Metropolitan University (OsloMet), 0130 Oslo, NorwayDepartment of Mechanical, Electronic and Chemical Engineering, Oslo Metropolitan University (OsloMet), 0130 Oslo, NorwayDepartment of Engineering Sciences, University of Agder (UiA), Jon Lilletuns vei 9, 4879 Grimstad, NorwayThe term perception-driven obstacle-aided locomotion (POAL) was proposed to describe locomotion in which a snake robot leverages a sensory-perceptual system to exploit the surrounding operational environment and to identify walls, obstacles, or other structures as a means of propulsion. To attain POAL from a control standpoint, the accurate identification of push-points and reliable determination of feasible contact reaction forces are required. This is difficult to achieve with rigidly actuated robots because of the lack of compliance. As a possible solution to this challenge, our research group recently presented Serpens, a low-cost, open-source, and highly compliant multi-purpose modular snake robot with a series elastic actuator (SEA). In this paper, we propose a new prototyping iteration for our snake robot to achieve a more dependable design. The following three contributions are outlined in this work as a whole: the remodelling of the elastic joint with the addition of a damper element; a refreshed design for the screw-less assembly mechanism that can now withstand higher transverse forces; the re-design of the joint module with an improved reorganisation of the internal hardware components to facilitate heat dissipation and to accommodate a larger battery with easier access. The Robot Operating System (ROS) serves as the foundation for the software architecture. The possibility of applying machine learning approaches is considered. The results of preliminary simulations are provided.https://www.mdpi.com/2218-6581/11/2/42snake robotseries elastic actuatorSEArobotics |
| spellingShingle | Askan Duivon Pino Kirsch Boris Mauboussin Gabriel Mougard Jakub Woszczyk Filippo Sanfilippo The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot Robotics snake robot series elastic actuator SEA robotics |
| title | The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot |
| title_full | The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot |
| title_fullStr | The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot |
| title_full_unstemmed | The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot |
| title_short | The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot |
| title_sort | redesigned serpens a low cost highly compliant snake robot |
| topic | snake robot series elastic actuator SEA robotics |
| url | https://www.mdpi.com/2218-6581/11/2/42 |
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