A Survey on Snake Robot Locomotion

Snake robots have been a topic of discussion among researchers for decades. They are potentially strong enough to bring substantial contributions the fields which unsafe/ narrow/ dirty/ hard reachable human operators, such as inspections, rescue missions, firefighting, etc. Though inventions wheel and legged mechanisms amazing, they often fail when coming these scenarios. Terrain adaptability is vital essence locomotion over constrained surfaces in biological snakes. But how this natural accomplished snake-like robots? Therefore, paper focuses study on factors behind recreation physical snake, like kinematics dynamics modelling, mechanical design, control approaches from existing literature. With their feature comparison, simulators available verifying mathematical model feasibility design also made new field.