ARCSnake: Reconfigurable Snakelike Robot With Archimedean Screw Propulsion for Multidomain Mobility

Exploring and navigating in extreme environments, such as caves, oceans, planetary bodies, are often too hazardous for humans, such, robots possible surrogates. These met with significant locomotion challenges that require traversing a wide range of surface roughnesses topologies. Previous strategies, involving wheels or ambulatory motion, snake platforms, have success on specific surfaces but fail others, which could be detrimental exploration navigation missions. In this article, we present novel approach combines snakelike an Archimedean screw mechanism to provide multiple, effective mobility strategies large including those difficult traverse wheeled robots. This work develops robotic system called ARCSnake demonstrate principle tested it variety different terrains environments order prove its controllable, multidomain, capabilities. tests show breadth scenarios can handle, hence demonstrating ability through terrains.