Abstract
The long and narrow body and diverse gaits make the snake robot have innate advantages in the detection of dangerous and complex environments such as post-disaster rescue and field exploration. However, it still faces the problem of low movement efficiency. The movement efficiency of its main gait is still lower than it on the ground. There is a big gap with wheeled robots, which greatly limits the endurance and practical application of snake robots. In this paper, a snake robot with wheeled modules is developed and designed to improve the efficiency of the robot's movement. First, we designed the wheeled module of the snake robot, added a wheeled module to the snake robot, and gave the snake robot a wheeled motion mode. Then, a configuration shape that can adapt to a variety of environments was designed to improve the passage of the snake robot, and a parameter was customized to evaluate the designed wheeled configuration. Finally, we verified the designed wheeled configuration in a laboratory environment. This research improves the motion efficiency of bionic robots represented by snake robots, and helps to promote the practical application of snake robots in disaster rescue and field detection.
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