Wireless Uni-module Design for Snake Robot with Module Disconnection and Reconfiguration
Date Issued
2008
Date
2008
Author(s)
Lin, Ping-Chih
Abstract
Snakes can adjust their locomotion types to overcome the surrounded terrains or obstacles. This excellent adaptability of snakes motivates the researches of snake robot, and the snake robots are expected to substitute humans to explore or rescue in complicated and dangerous environments. ince the snake robots are utilized in an unknown environment, the robustness and adaptability of the system is important and considerable. In this thesis, the concept of modular robots is introduced to the centralized multi-link snake robots. Hence, the links of the traditional snake robots are evolved to the intelligent modules, and this decentralized architecture can remove broken parts and add new modules for reconfiguration. he proposed design in this research includes hardware realization and reconfiguration planning. The module with automatic connector and wireless communication is implemented first, and a reconfiguration algorithm for the uni-module is derived to decide the physical order of the modules in the sequence connection of a snake robot. Hence, each module can know the position and role under the snake robot, so that the robot can perform proper locomotion. inally, experiments are conducted and the results show the feasibility and robustness of the proposed wireless snake robot which can disconnect broken modules and can be reconfigurable.
Subjects
Snake robot
modular robot
robot reconfiguration
wireless communication
Type
thesis
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