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Snake robots equipped with sensors and tools could potentially contribute to applications such as fire-fighting, industrial inspection, search-and-rescue and more. Such capabilities would require that a snake robot has a high degree of awareness of its surroundings (i.e. perception-driven locomotion) and is able to exploit objects and irregularities in its environment to gain propulsion (i.e. obstacle-aided...
This communication presents and justifies ideas related to motion control of snake robots that are currently the subject of ongoing investigations by the authors. In particular, we highlight requirements for intelligent and efficient snake robot locomotion in unstructured environments, and subsequently we present two new design concepts for snake robots that comply with these requirements. The first...
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