{"paper":{"title":"CObRaSO: Compliant Omni-Direction Bendable Hybrid Rigid and Soft OmniCrawler Module","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abhishek Sarkar, Akash Singh, Enna Sachdeva, K.Madhava Krishna, Vinay Rodrigues","submitted_at":"2017-09-29T15:20:47Z","abstract_excerpt":"This paper presents a novel design of an Omnidirectional bendable Omnicrawler module- CObRaSO. Along with the longitudinal crawling and sideways rolling motion, the performance of the OmniCrawler is further enhanced by the introduction of Omnidirectional bending within the module, which is the key contribution of this paper. The Omnidirectional bending is achieved by an arrangement of two independent 1-DOF joints aligned at 90? w.r.t each other. The unique characteristic of this module is its ability to crawl in Omnidirectionally bent configuration which is achieved by a novel design of a 2-DO"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.10452","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}