Wheeko

A snake robot with passive wheels. The robot consists of 10 identical joint modules, each having two motorized degrees of freedom (pitch and yaw). The modules are covered by passive wheels to give the robot anisotropic ground friction properties, which enable the robot to slither forward over flat surfaces.

ROBOTNOR

Overview

The robot consists of 10 identical joint modules, each having two motorized degrees of freedom (pitch and yaw). The modules are covered by passive wheels to give the robot anisotropic ground friction properties, which enable the robot to slither forward over flat surfaces.

Specifications

  • Total weight of a joint module: 960 g
  • Outer diameter: 130 mm
  • Degrees of freedom: 2
  • Max joint travel: ±45°
  • Max continuous joint torque: 4.5 Nm
  • Max joint speed (no load): 70°/sec

References

A book primarily focused on control design for snake robots. Wheeko is described in detail in chapter 3, 'Development of a Mechanical Snake Robot for Motion Across Planar Surfaces.'

P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, et al. - Springer-Verlag London 2013 ISBN 978-1-4471-2996-7

Provides a brief intro and links to other snake robot research projects from ROBOTNOR, as well as links to videos and media articles.

www.robotnor.no/research/wheeko-a-snake-robot-with-passive-wheels

Wevolver 2023