ABSTRACT
This chapter examines the snake-robot Genbu, which evolved from early snake robots to provide active wheeled and passive joint morphology for improved terrain adaptation and high speed locomotion. It discusses the sensing issue which has also appeared in compliant manipulators, links, which are usually motivated by space manipulators where workspaces are quite large and weight is limited. The chapter implements a Relative Posture Sensor (RPS), introduced by Merrell and Minor, to produce more accurate relative posture estimates and reduce drift between the axles. Once RPS provides multiple sensor data, the sensor fusion algorithms are necessary to obtain the most accurate relative posture estimates. It is desired to install proper sensors on the frame module such that the relative position and orientation of one axle with respect to the other can be detected by sensor data from the flexible frame that is not dependent on the axle sensors in any way.
