The Riverine Utility Craft (RUC)

Fales, W.K.; Amick, D.W.; Schreiner, B. G.

doi:10.1016/0022-4898(72)90093-6

Cited by 5 publications

(2 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the robotics space, groups have shown Archimedean screw propulsion for mobile robots / vehicles as a method to traverse over rough or viscous terrain [33], [34], [35], [36]. The Archimedean screw provided consistent propulsion across a variety of extreme terrain including water, marshes, soft soil, snow, and ice [37], [38], [39]. Although the Archimedean screw drive was capable of traversing terrain where other "robust" methods (such as wheels and tank treads) failed, screw-driven platforms never became popularized due to their limited or lack of mobility on smooth rigid surfaces, such as on concrete.…”

Section: A Related Workmentioning

confidence: 99%

“…The first condition is easy to meet as the U-Joints are actuated and can be regulated to target positions. Meanwhile, the second condition is met when traversing on screw-propellable media which previously has been shown to be a wide range of terrain [37], [38], [39]. This kinematic model was validated by setting the U-Joint angles and comparing the measured turning radius against its expected value based on the kinematic model.…”

Section: B Tunneling Modementioning

confidence: 99%

See 1 more Smart Citation

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility

Richter¹,

Gavrilov²,

Lam³

et al. 2021

Preprint

View full text Add to dashboard Cite

Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that require traversing a wide range of surface roughnesses and topologies. Previous locomotion strategies, involving wheels or ambulatory motion, such as snake platforms, have success on specific surfaces but fail in others which could be detrimental in exploration and navigation missions. In this paper, we present a novel approach that combines snake-like robots with an Archimedean screw locomotion mechanism to provide multiple, effective mobility strategies in a large range of environments, including those that are difficult to traverse for wheeled and ambulatory robots. This work develops a robotic system called ARCSnake to demonstrate this locomotion principle and tested it in a variety of different terrains and environments in order to prove its controllable, multi-domain, navigation capabilities. These tests show a wide breadth of scenarios that ARCSnake can handle, hence demonstrating its ability to traverse through extreme terrains.

show abstract