Abstract

AbstractThis paper discusses the design and the experimental tests on Porcospino, a bio-inspired single-track mobile robot for inspection of unstructured environments characterized by narrow spaces. It is an evolution of SnakeTrack, a single-track robot with steering capabilities; differently from SnakeTrack, the track modules of Porcospino are characterized by elastic spines, which improve traction on uneven and irregular terrains. The main body is a vertebral column, comprising a series of vertebrae connected by compliant joints and two end modules. Each end module carries two sprockets, sharing a common actuator, to drive the single peripherical track. Moreover, each end module hosts an actuator for track steering. The remaining mobilities of the vertebral column allow it to cope passively with the terrain profile, to enhance traction. The control unit, batteries, drivers, and environmental sensors are placed along the vertebral column. Both the end modules are equipped with a camera for intermittent vision, which is possible thanks to openings realized on the track modules. The experimental campaign on the first Porcospino prototype is discussed, highlighting the differences with its earlier version.

Full Text
Published version (Free)

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call