Reconfigurable Snake Robot  

View videos of a 21 DOF Reconfigurable Snake robot.  The first video shows the re-connecting with itself and breaking into three separate chains.  In the second video, the robot (in its new configuration) is being controlled as a parallel manipulator.  The third video shows the robot being controlled as a dual arm robot.  All of the calculations in these videos were done in real-time using OSCAR (Operational Software Components for Advanced Robotics).  A detailed description of this project can be found in the following publication:

Pryor, M. Taylor, R. C. Kapoor, C. Tesar, D. 'Generalized Software Components for Reconfiguring Hyper-Redundant Manipulators' IEEE/ASME Transactions on Mechatronics,vol. 7, no. 4, pp. 475-478, Dec. 2002.

Instructions:

1. Download and view the movies.  These movies are in .AVI format.