8 accepted papers
This paper introduces the gait motion of climbing ladder and net for a snake robot using partial caging. These gait motions only involve little contact between the snake robot and the environment, where the robot may slip down easily. A target body shape is proposed that incorporates partial caging
In this study, we designed an opposite helix gait for object transportation using a non-wheeled snake robot. The proposed gait enables straight motion, turning motion, and pivot turning motion, allowing the robot to transport objects without ground contact. The target shape of the proposed gait feat
This paper introduces climbing gait for the snake robot by adapting to a flexible net. A net deforms in various ways due to external forces. Therefore, we tilt snake robot’s body to adapt to the deformation of the net. In addition, we can adjust the position of the head of a snake robot passing thro…
This letter proposes two types of connecting parts for the obstacle-aided locomotion of a non-wheeled snake robot to move between two planes. One method involves lifting the robot's head vertically, while the other method involves winding around an obstacle to avoid toppling over when moving to a hi
A non-wheeled snake robot can propel itself by pushing against obstacles. This is called obstacle-aided locomotion. To expand the exploration range of a snake robot using this method, it is preferable to utilize obstacles that are both on the ground and by the side or above. To achieve these goals,
A method for designing the motion of a snake robot negotiating complicated pipe structures having a constant diameter is presented. For such robots moving inside pipes, there are various "obstacles" such as junctions, bends, shears, and blockages. To surmount these obstacles, we propose a method tha…
This letter presents a simultaneous trajectory tracking control method for two points of a snake robot. The kinematic model considering two regulated points is determined as a switched system that is switched by lifting a few wheels. The system becomes a kinematically redundant system by the lifting
This paper presents a method that allows a snake robot to climb a ladder. We propose a ladder climbing method for a snake robot that has a smooth surface shape. We design a novel gait for the snake using a gait design method that configures the target form of the snake robot by connecting simple sha…