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The JPL Serpentine Robot: a 12-DOF system for inspection

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3 Author(s)
Paljug, E. ; Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA ; Ohm, T. ; Hayati, S.

The Serpentine Robot is a prototype hyper-redundant (snake-like) manipulator system developed at the Jet Propulsion Laboratory. It is designed to navigate and perform tasks in obstructed and constrained environments in which conventional 6-DOF manipulators cannot similarly function. This paper describes the Serpentine Robot mechanical design, a low level inverse kinematic algorithm for the joint assembly, a brief synopsis of control development to date, and the applications of this technology

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995