Describes the design, construction, and performance of the OmniTread serpentine robot. Provides a review of other designs in this new area of mobile robotics. Presents innovative and unique mechanical and control solutions.
A theoretical analysis of key aspects of the mechanical design and their implications on the performance of the robot is presented. Extensive experimentation and testing helped optimize choices of materials for the critical components: tracks and pneumatic bellows. Performance was evaluated by an independent third party: the Southwest Research Institute.
It was found that pneumatic bellows are optimal joint actuators for serpentine robots. They can provide both strength and compliance, depending on the task, at minimal volume and weight.
The described prototype is tethered to external sources of electrical and pneumatic power. A smaller and fully self‐contained version of the OmniTread is currently under development.
A fully functional OmniTread serpentine robot will provide unprecedented mobility on rough terrain, such as the rubble of a collapsed building. The ability to climb over high obstacles and span large gaps, while still fitting through small openings suggests use of this robot in urban search and rescue, industrial inspection, and military reconnaissance tasks.
The OmniTread serpentine robot incorporates multiple original features, which resulted in three recent patents. Most notably are the Integrated pneumatic joint actuator with proportional position and stiffness control system and the “Tracks all Around” design. These features provide dramatic performance improvements in serpentine robots.
