How a Snake Robot Uses Two Arms to Work Together

This patent describes a snake-like robot with at least two movable arms that work together to perform complex tasks, like inspecting pipes or lifting heavy objects.

What it covers

The patent describes a "serpentine robotic crawler" (Claim 1) made of at least two connected "frames" (Claim 1). These frames are joined by an "articulating linkage" (Claim 1), which acts like a flexible spine with joints. Each frame supports a "dexterous manipulator" (Claim 1), essentially a robotic arm with a "jointed member" and an "end effecter" (Claim 1), like a gripper or tool. The key is that these manipulators can move in at least two directions and perform "individual dexterous operations that are coordinated with one another" (Claim 1). For example, one arm might hold a heavy pipe (Claim 2, 3) while the other arm uses a tool to fix it, guided by an "optical sensor" (Claim 8) for precise, two-handed work. The robot can move using tracks or wheels (Claim 13).

What it doesn't cover

• —Robots with only one dexterous manipulator, as the claims specifically require at least two manipulators.
• —Robots where multiple manipulators operate independently without any coordination between their actions.
• —Robots that are not designed with a flexible, multi-segment 'serpentine' body structure.
• —Robots whose manipulators cannot exert a force greater than the robot's own weight, as specified in claims 2 and 3.
• —Robots where the manipulators are not capable of movement in at least two distinct degrees of freedom.

The clever bit

The novelty lies in combining a flexible, multi-segment "serpentine" body with multiple, highly capable robotic arms that can work together in a coordinated fashion, even performing "two-handed operations" (Claim 8) in tight spaces. This allows for complex manipulation from a mobile, adaptable platform.

Why it matters

This patent is significant for developing robots that can operate in confined or hazardous spaces, performing tasks that require more than one hand. Sarcos, the assignee, is known for advanced robotics, including powered exoskeletons and dexterous robots for industrial and defense applications. This technology enables robots to handle complex maintenance, inspection, and construction tasks in environments too dangerous or difficult for humans.

Real-world examples

• 1.Robots for inspecting and repairing power plants
• 2.Robots for disarming explosives
• 3.Robots for infrastructure maintenance (e.g., bridges, pipelines)
• 4.Robots for hazardous waste cleanup
• 5.Sarcos Guardian S robot