Snake Monster – Initial Locomotion

Initial demonstrations of autonomous walking of “Snake Monster”, a hexapod robot built with modular actuators from the Biorobotics Lab’s snake robot project, at the Robotics Institute of Carnegie Mellon University. The series-elastic actuators in each joint allow simultaneous position-velocity-torque control, enabling compliant motions using a simple alternating-tripod walking gait. This work is funded by the DARPA M3 program.

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