A review on modelling, implementation, and control of snake robots

Abstract

This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, and finally control design efforts for snake locomotion. The review shows that the majority of literature on snake robots so far has focused on locomotion over flat surfaces, but that there is a growing trend towards locomotion in environments that are more challenging, i.e. environments that are more in line with realistic applications of these mechanisms.

Biomimetic tactile target acquisition, tracking and capture

“…This single observation provides a strong motivation to the roboticist to understand biological systems and to exploit the solutions to which they have converged [3,4] (including to understand how biological solutions relate to probabilistic solutions [5]). This motivation is inspiring entirely novel (or, 'unconventional') approaches to mechanics [6], locomotion [7], sensing [8] and decision-making [9], to give only a handful of recent examples. At the same time, 'embodied' (i.e.…”

Gait, Stability and Movement of Snake-Like Robots

“…Like serpentine robots having the ability to climb over obstacles, the snake-like robot can not only crawl along a plane, it can also climb up steps or over obstacles [22][23][24][25]. However, owing to its size and the structure constraints, there is a limit to the height the robot can climb up steps or up an obstacle.…”

Snake-Like Robot with Fusion Gait for High Environmental Adaptability: Design, Modeling, and Experiment

“…The unique motion of snake-like robots can generate the action of a hand and a leg [1]. Thus, snake-like robots can be successfully applied in nonstructural environments, such as disaster rescue, human body cavity examination, and industrial pipe inspection [2,3].…”

“…Other works focused on wheel-less snake-like robots, such as those by Crespi and Klaassen [10,11]. Crawler robots that can enter highly complicated environments have also been studied [3].…”