Project homeWiki source code of SNAKE
Last modified by Mark Rinse van Koningsveld on 2025/09/02 12:56
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| 1 | The SNAKE module, developed by Tohoku University, is an attachment for the ANYmal robot that allows it to explore confined spaces that would be otherwise inaccessible. This attachment is designed to navigate through narrow and enclosed environments, such as pipes or collapsed structures, providing critical information in search and rescue operations. The SNAKE module’s flexibility and precise control make it an essential tool for inspecting areas that pose a high risk to human responders. | ||
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| 3 | * **Dual Camera System**: A front-facing camera for navigation and a wide-angle camera for situational awareness. | ||
| 4 | * **Gas Monitoring**: Equipped with sensors to detect oxygen levels, carbon dioxide, combustible gases, and toxic substances. | ||
| 5 | * **Stiffness Control**: Adjustable via air pressure, allowing the SNAKE to maneuver through tight spaces with precision. | ||
| 6 | * **Remote Operation**: Controlled by an operator through a dedicated UI, providing real-time video feed and sensor data | ||
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| 8 | === Interview insights === | ||
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| 10 | Use the arm to reduce human exposure: try doors, move light debris, and operate valves **before** committing a team. Teleop must be **glove-friendly** with large affordances and haptic cues; when autonomy assists, provide clear **mode and constraint** indicators. Keep manipulations brief and **non-blocking**—the arm should not obstruct rescue access or create entanglement risks with hoses and lines. |