Design of a Module for a Modular Snake Robot with 3D Locomotion
Yuya Shimizu, Yosuke Kita, So Shimiooka, Tetsushi Kamegawa
Abstract
Although modular robots with snake-like structures have been proposed in previous studies, very few have achieved separation and docking without direct human intervention. Based on prior research on conventional snake robots and modular robots, we propose a modular snake robot composed of a minimum module consisting of five links and four joints. This robot is capable of rotating and translating in a two-dimensional plane even as a single module. Each module is equipped with a unique detachable and dockable structure using magnets and mechanical hooks, and reconfiguration between modules is realized through these motions. Through field experiments, we verified the reproducibility of the detachment and docking actions, as well as the locomotion capability of each module in the detached state.
BibTeX
@inproceedings{iros2025_designofamodulef,
title = {Design of a Module for a Modular Snake Robot with 3D Locomotion},
author = {Yuya Shimizu and Yosuke Kita and So Shimiooka and Tetsushi Kamegawa},
booktitle = {IROS 2025},
year = {2025}
}