Chapter 23 — Biomimetic Robots

Torque-control strategies for snake robots

This video provides an overview of some initial torque-based motions for the series elastic snake robot (SEA Snake). Because the SEA Snake has the unique ability to accurately sense and control the torque of each of its joints, it can execute life-like compliant and adaptive motions, without a complex controller or tactile sensing.
David Rollinson, Kalyan Vasudev Alwala, Nico Zevallos, Howie Choset