Pictures of Robots in our lab

Hyper-Redundant Robots

• "Snakey", our 30 degree-of-freedom hyper-redundant robot
• Click here to see snakey
• Click here to see a picture of one of the robot's sensor bays
• Spatial Snakes
• A close up of a 3-dimensional snake joint prototype module
• A picture of a 12 degree-of-freedom snake-robot that was based on this module design. This robot is used at the Jet Propulsion Laboratory for experiments in space station inspection.
• A picture of a snake-like robot for urban search and rescue experiments. This robot was built at NEC corporation by Nobuaki Takanashi, and is based on this joint module prototype

Locomotion Robots

• The "Snakeboard," which is used to study various issues in dynamics and control of nonholonomic systems
• Click here to the commercial snakeboard which motivated our work
• Click here to see a picture of a robotic version of the snakeboard
• Click here for an abstract of a paper we wrote about the snakeboard
• A Compressed Postscript copy of the paper.
• Biped Walking Robot built in collaboration with Shuuji Kajita (MEL Lab, Tsukuba, Japan)
• front view
• side view
• Note, the most of the hyper-redundant robots above and the medical robot below have been used in locomotion research

Other Robots

• A picture of a small mobile robot used to study sensor based planning (click here for some papers on sensor based planning)
• A picture of a medical robot prototype
• Click here for an abstract of a paper we wrote about this robot
• A Compressed Postscript copy of the paper.
• A picture of the Adept One Robot