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dc.contributor.authorDuivon, Askan
dc.contributor.authorKirsch, Pino
dc.contributor.authorMauboussin, Boris
dc.contributor.authorMougard, Gabriel
dc.contributor.authorWoszczyk, Jakub
dc.contributor.authorSanfilippo, Filippo
dc.date.accessioned2022-08-16T11:33:10Z
dc.date.available2022-08-16T11:33:10Z
dc.date.created2022-05-31T09:32:16Z
dc.date.issued2022
dc.identifier.citationDuivon, A., Kirsch, P., Mauboussin, B., Mougard, G., Woszczyk, J. & Sanfilippo, F. (2022). The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot. Robotics, 11 (2), Artikkel 42.en_US
dc.identifier.issn2218-6581
dc.identifier.urihttps://hdl.handle.net/11250/3012088
dc.description.abstractThe 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.en_US
dc.language.isoengen_US
dc.publisherMDPIen_US
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.titleThe Redesigned Serpens, a Low-Cost, Highly Compliant Snake Roboten_US
dc.title.alternativeThe Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot<sup>†</sup>en_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionpublishedVersionen_US
dc.rights.holder© 2022 The Author(s)en_US
dc.subject.nsiVDP::Teknologi: 500::Informasjons- og kommunikasjonsteknologi: 550en_US
dc.source.volume11en_US
dc.source.journalRoboticsen_US
dc.source.issue2en_US
dc.identifier.doihttps://doi.org/10.3390/robotics11020042
dc.identifier.cristin2028277
dc.source.articlenumber42en_US
cristin.qualitycode1


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