Abstract
Intelligent robotic systems have gradually penetrated into the fields of social services and military reconnaissance with the rapid economic development. Snake robots, as multi-redundant bionic robots, play an indispensable and important role in public life and military needs.1 These robots have been widely favored and highly regarded by the academia and industry because of 1) their small size and flexibility, thereby easily entering small spaces for work, 2) their ability to carry a variety of equipment for disaster rescue and military reconnaissance, and 3) their variety of movement modes, which can adapt to various complex terrain environments.
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