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University of California Henry Samueli School of Engineering and Applied Science Engineering IV XX-XXX
RoMeLa | HyDRAS: Hyper-redundant Discrete Robotic Articulated Serpentine
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Hyper-redundant Discrete Robotic Articulated Serpentine

Motors: Robotis Dynamixel RX-28

  • Unique snake-like robot that utilizes a new way of locomotion to climb pole or scaffolding structures.

  • Rolls up pole structures while maintaining a helical shape.

  • Dynamically adapts to its surroundings.

  • Utilizes universal joints to actuate multiple link segments.

Mechanical Goals and Objectives

  • Develop a helical backbone curve that can describe the shape of HyDRAS for wrapping around poles with a variety of cross sections.

  • Design and build working prototypes that can verify the analytical simulations.

  • Develop a design tool to assist in the selection of design parameters.

  • Determine the motor actuation angles to achieve a whole body rolling motion.

Publications & Awards

  • G. Goldman and D. W. Hong, “Determination of Joint Angles for Fitting a Serpentine Robot to a Helical Backbone Curve,” in International Conference on Ubiquitous Robots and Ambient Intelligence, November 2007.

  • G. Goldman and D. W. Hong, “Considerations for Finding the Optimal Design Parameters for a Novel Pole Climbing Robot,” in ASME Mechanisms and Robotics Conference, August 2008.

  • Grand Prize, International CAPSTONE Design Fair, Seoul, Korea, December 2008

  • 2nd Place, ASME SERAD Safety Innovation competition, 2008