4 accepted papers
Snake robots have been researched for locomotion in unstructured environments due to its unique and adaptable gaits, however, they have not been used to interact with the environment in a dexterous manner, for example to grasp or push an object. In this paper, the effect of both the configuration of…
Robots capable of both locomotion and interaction with the environment are necessary for robots to move from ideal laboratory situations to real applications. Snake robots have been researched for locomotion in unstructured environments due to its unique and adaptable gaits. However, they have not b…
Snakes and worms are capable of travelling through tightly confined spaces on a resistance medium using rectilinear locomotion. To apply this kind of gait into snake-inspired robots, some fundamental properties remain elusive. In this paper, we present a n-segment kinematic model of the snake robot…
Snake robots are highly redundant robots that could potentially be used as robotic arms, allowing them to interact with the environment. However they do not have a fixed base, making them difficult to control accurately. In this paper, a complete modeling approach and an optimization algorithm are p…