Zizhu Zhao

JiAo: A Versatile Snake Robot with Elliptical Wheels for Multimodal Locomotion

This paper presents a novel snake robot, JiAo, equipped with elliptical wheels that enable both wheeled and body-based locomotion. First, the design of each module of the snake robot is described, which consists of the body link and the transmission system of the elliptical wheels. Second, distinct