3 axial force sensor for a semi-autonomous snake robot

Now that mobile robots are getting tested more and more in challenging areas, difficulties in control, particularly when the robot cannot be seen, have appeared. In this research a mobile snake robot with actuated wheels is given the ability to sense its surroundings through its wheels by 3DOF force sensors, so that semi-autonomous control can be realized. This will simplify necessary operator commands and improve situation awareness through information feedback. Even with the many limitations of practical robot design, such as unwanted flexibilities, and measuring while actuating the wheels, the sensor´s errors are confirmed to vary between just 1% and 3%. Moreover, sensitivity is equal over the wheels, only a 3s calibration at startup is needed, and the sensor is shown to be resistant to aging and temperature change. The sensor is implemented directly into a new snake robot, one sensor in each segment. Its central control will adjust the snake body according to the surroundings while automatically avoiding obstacles and crossing gaps.