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Serpentine robotic crawler

  • US 7,845,440 B2
  • Filed: 11/13/2007
  • Issued: 12/07/2010
  • Est. Priority Date: 11/13/2006
  • Status: Active Grant
First Claim
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1. A serpentine robotic crawler comprising:

  • a first frame having a first continuous track rotatably supported by the first frame;

    a first wrist-like actuated linkage coupled to the first frame wherein the first wrist-like actuated linkage provides rotational movement about a longitudinal axis and bending movement about two different lateral axes;

    an elbow-like actuated joint coupled to the first wrist-like actuated linkage wherein the elbow-like actuated joint provides bending movement about a lateral axis;

    a second wrist-like actuated linkage coupled to the elbow-like actuated joint wherein the second wrist-like actuated linkage provides rotational movement about a longitudinal axis and bending movement about two different lateral axes; and

    a second frame coupled to the second wrist-like actuated linkage and having a second continuous track rotatably supported by the second frame.

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