Abstract
Snake-like robots which have flexible body, and wheels or tracks powered by motors have shown high traversability on rough terrain, therefore they have been expected to be used in practical applications such as search and rescue. However, slender snake-like robots have a problem that they easily rotate around the roll axis and turn over in challenging environment. Thus, in this paper we discussed methods to recover from falling over. Firstly, we showed an automatic recovery from falling over based on an attitude sensor and rolling motion. Secondly, we proposed a method in which the robot made a zigzag shape, pushed the wheels against the walls and obtained propulsive force. This method allows the robot to recover from falling over in a narrow straight path. The feasibility of both methods was verified by test of a snake-like robot ACM-R4.2.
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