Abstract
Snake-inspired locomotion is much more maneuverable compared to conventional locomotion concepts and it enables a robot to navigate through rough terrain. A rectilinear gait is quite flexible and has the following benefits: functionality on a wide variety of terrains, enables a highly stable robot platform, and provides pure undulatory motion without passive wheels. These benefits make rectilinear gaits especially suitable for search and rescue applications. However, many previous robot designs utilizing rectilinear gaits were slow in speed. In this paper, a snake-inspired robot design and rectilinear gait capable of high speed locomotion are introduced. Our results from an initial prototype indicate that this concept is capable of achieving high speed. The developed prototype successfully demonstrated forward and turning motion.
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