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