Ladder and Net Climbing for a Snake Robot Using Partial Caging

Abstract

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 into climbing motions to prevent the robot from slipping down. In addition, we propose the rolling motion in order to achieve better constraint to the environment. We performed experiments and demonstrated the effectiveness of our proposed method.