Climbing Gait for a Snake Robot by Adapting to a Flexible Net

Abstract

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 through the mesh. A snake robot can move not only vertically but also horizontally. We demonstrated the validity of the proposed method through experiments in vertical movement and movement in diagonal direction.