Snake Robot With Opposing Helix Gait for Transporting Cylindrical Objects
Kiyoshiro Miki, Ching Wen Chin, Motoyasu Tanaka
Abstract
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 features helices facing each other in a distinctive configuration. An elliptical helix, with its height defined by arc length, was designed for turning motion. By utilizing the proposed shape and employing rolling motion, opposing forces can be generated. This enables pivot turning motion-a capability difficult for conventional snake robots-and allows for compensation of the relative position between the robot and the object through object position manipulation. We conducted actual robot experiments for each type of motion and object transportation to verify the effectiveness of the proposed method. In particular, the trajectories of straight, turning, and pivot turning motions were measured and compared with theoretical predictions.
BibTeX
@inproceedings{ral2026_snakerobotwithop,
title = {Snake Robot With Opposing Helix Gait for Transporting Cylindrical Objects},
author = {Kiyoshiro Miki and Ching Wen Chin and Motoyasu Tanaka},
booktitle = {RA-L 2026},
year = {2026}
}