Active joints Hypermobile robots: • Koryu-I and Koryu-II (Hirose, 1993) • Snake 2 (Klaassen and Paap, 1999) • Soryu (Takayama and Hirose, 2000) • Millibot Train (Brown et al., 2002) • Moira (Osuka & Kitajima, 2003) • Pipeline Explorer (Schempf et al., 2003) • Omnis family (Granosik et al., 2005) • MAKRO plus (Streich & Adria, 2004) • KOHGA (Kamegawa et al., 2004) • JL-I (Zhang et al., 2006) • W...

Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, non-linear models. This letter presents new approach snake robot navigation coiling, with an algorithm that enables online step-by-step position adjustment follow-the-leader strategy, significantly improving...

This paper gives a treatment of various aspects related to snake locomotion. A mathematical model and a physical implementation of a modular snake robot are presented. A control strategy is also developed, yielding a general expression for different gait patterns. Two forms of locomotion have been simulated with the mathematical model, and experiments with the physical snake robot have been con...

This paper presents a novel design for a modular snake-like robot with magnetic coupling between the modules. Each module combines 3D-printed mechanical parts with widely available standard electronic components, resulting in a highly customizable, low-cost robot platform for research and education. Since simulation and 3D-printing rely on the same model-files, the design also integrates smooth...

The snake-like robot is a limbless bionic widely used in unstructured environments to perform tasks with substantial functional flexibility and environmental adaptability complex environments. In this paper, the spiral climbing motion of on outer surface cylindrical object was studied based three-dimensional biological snake, we carried out analysis optimization motion-influencing factors. Firs...

The world has been suffering from many natural and man caused catastrophic disasters during the last decades, such as large-scale earthquakes and terrorist attacks. In such events, collapsing of houses and buildings in large areas is almost inevitable. The basic idea of designing a biologically inspired robot is to study its natural behavior with an equivalent robotic model to be employed furth...

Snake robots, sometimes called hyper-redundant mechanisms, can use their many degrees of freedom to achieve a variety of locomotive capabilities. These capabilities are ideally suited for disaster response because the snake robot can thread through tightly packed volumes, accessing locations that people and conventional machinery otherwise cannot. Snake robots also have the advantage of possess...