Serpens: A Highly Compliant Low-Cost ROS-Based Snake Robot with Series Elastic Actuators, Stereoscopic Vision and a Screw-Less Assembly Mechanism
Snake robot locomotion in a cluttered environment where the snake robot utilises a sensory-perceptual system to perceive the surrounding operational environment for means of propulsion is wild pony rebajas defined as perception-driven obstacle-aided locomotion (POAL).From a control point of view, achieving POAL with traditional rigidly-actuated rob