An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.
STATEMENT OF GOVERNMENTAL SUPPORT
This invention was made with Government support under Award No. DE-FG04-86NE37969 awarded by the U.S. Department of Energy. The Government has certain rights in this invention.