Continuum Robotic Elements for Enabling Negotiation of Uneven Terrain in Unstructured Environments
نویسندگان
چکیده
We address the potential for continuous “continuum” robot elements to transform the nature of robotic traversal of uneven terrain. Continuum robots are “dual” to traditional robot structures, with their inherent capabilities featuring strengths in areas that are key weaknesses for conventional robots. These capabilities match well to current challenges in robot mobility, particularly in unstructured environments featuring uneven terrain. We demonstrate these capabilities via new and innovative mobile robot hardware, based on the combination of novel continuum body elements with wheel/leg (“whegs”) elements. This combination offers performance not possible with conventional “monolithic” wheeled or tracked mobile robots, or with current robot snakes. Key-Words: Continuum robots, design, mobility, locomotion
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