Kulko raising head

Kulko – A snake robot with tactile sensors

Kulko is an experimental platform for investigating snake robot locomotion in environments with obstacles. Locomotion in such environments requires that the snake robot can sense its environment in some way. Moreover, enabling a snake robot to glide forward in a cluttered environment requires that the body of the robot is sufficiently smooth, i.e. free of obstructive features.

To this end, the joint modules of Kulko are covered by contact force sensors to allow the robot to sense its environment. The modules are also covered by spherical shells that give the robot a smooth outer surface, thereby allowing slithering (gliding) motion in cluttered environments.

Technical data

  • Total weight of a joint module: 960 g
  • Outer diameter: 130 mm
  • Degrees of freedom: 2
  • Max joint travel: ±45°
  • Max continuous joint torque: 4.5 Nm
  • Max joint speed (no load): 70°/sec

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