The snake-like robot needs to adapt to complex environment, in order to reach the target point safely and collisionless, necessary obstacle avoidance strategy is of vital importance. In this paper, laser radar and ultrasonic sensors are used to detect the surrounding environment, and then information fusion method based on TS fuzzy neural network is adopted to integrate the collected information, which provides the necessary condition for obstacle avoidance research of the snake-like robot. Experiments show that the snake-like robot can successfully avoid obstacles to reach the target point after training of the fuzzy neural network.

Keywords: Round belt drive, snake-like robot, structural analysis and design, easy to control. AbstractTwisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.

As snake is one of the animals with the best obstacle performance in the nature, snake-like robot with the movement mechanism and behavioral pattern of a biological snake has broad application prospects. This paper designs a rope-drive snake-like robot driven by the friction of the rope instead of the traditional twisting forward movement pattern, the new drive mode can provide more power for the robot. Based on the follow the leader rule, this paper presents a new path following control method involving time delay in turn, and summarizes the movement pattern of the snake-like robot in theory, and then verifies the path following control method through simulation.

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Abstract-The characteristics of the snake with a variety of motion patterns and multi-redundancy and multi-degree of freedom make it have powerful motion ability and good environmental adaptability, can pass through obstacles that human can't. These advantages prompt us to study a new-type rope-drive snake-like robot based on the epidermis-drive. The snake-like robot uses modular design, with a remarkable versatility, economy and robustness. In this paper, we mainly design the structure of the rope-drive snake-like robot, and carry out a detail description of the drive mechanism, the drive principle and the yaw and pitch mechanism of the snake-like robot. And then study the motion mechanism of the rope-drive snake-like robot; finally verify the motion ability of the snake-like robot by experiments.