Grzegorz Granosik

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Many industrial applications require inspections and surveillance in hard-to-reach and sometimes even hazardous areas. A relatively new kind of robotic mechanism, called a " serpentine robot, " may be able to provide a solution to some of these applications. Serpentine robots are slender, multi-segmented vehicles designed to provide greater mobility than(More)
This paper introduces a new control method for pneumatic actuators, called "Proportional Position and Stiffness (PPS)" controller. The PPS method provides both position and stiffness control for a robot joint driven by a pneumatic cylinder with four ON-OFF valves. In addition, the proposed control system consumes much less compressed air than comparable(More)
This paper describes the design and performance of the OmniTread serpentine robot, developed at the University of Michigan. Serpentine robots are mobile robots that comprise of multiple rigid segments, connected by actuated joints. The segments usually have drive elements, such as wheels or tracks. To date, we have developed two versions of the OmniTread.(More)
Urban search and rescue, industrial inspections, and military intelligence have one need in common: small-sized mobile robots that can travel across the rubble of a collapsed building, squeeze through small crawl-spaces to take measurements or perform visual inspections, and slither into the shelter of insurgents to gather intelligence. Some of these areas(More)