Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees freedom, which make them capable versatile three-dimensional locomotion. In motion planning process, snake robot motions are often designed kinematically by a chronological sequence continuous backbone curves that capture desired macroscopic shapes the robot. However, as geometric arrangement rotary...

Mobile robots that can survive in unstructured wildernesses is essential many applications such as environment detecting and security surveillance. In of these applications, it highly desirable the robot adapt robustly to both terrestrial aquatic environment, translocate swiftly between various environments. A novel concept amphibious spherical with fins proposed this paper, capable locomotion ...

Title of Thesis: DESIGN, ANALYSIS, AND FABRICATION OF A SNAKE-INSPIRED ROBOT WITH A RECTILINEAR GAIT Degree Candidate: Brent William Spranklin Degree and Year: Master of Science, 2006 Thesis Directed By: Associate Professor Satyandra K. Gupta Department of Mechanical Engineering Snake-inspired robots display promise in areas such as search, rescue and reconnaissance due to their ability to loco...

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 i...

Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar ...