Modular Snake Robots for Urban Search And Rescue Operations Juan González-Gómez, Mario Garzón, Antonio Barrientos Snake robots The environment Good candidates Small section Flexible body Modular Robust Low cost Versatile Unstructured Chaotic Pieces of rubble Priority: Find survivals quickly Abilities Bio-Inspired controllers CPG CPG CPG Central Pattern generators sinusoidal generators Cheap to implement Robust Scalable Three capabilities needed: Locomotion, climbing and grasping Modular Robotic platform Experiments Family of Y1 modules Grasping modes Robots prototypes Locomotion gaits Sede Madrid: Calle José Gutiérrez Abascal, 2 28006 MADRID – ESPAÑA Tfno.: +34 91 336 30 61; Fax: +34 91 336 30 10 Sede Arganda: Ctra. Campo Real Km. 0,200 28500 ARGANDA DEL REY (Madrid) – ESPAÑA Tfno.: +34 91 871 19 00; Fax: +34 91 871 70 50 CENTRO DE AUTOMÁTICA Y ROBÓTICA (CAR) UPM-CSIC www.car.upm-csic.es Juan González-Gómez, Jun-2012