Abstract
A snake-like robot has flexible mobility and high stability with low center of mass. It is very useful for complex environment exploration. This article develops two types of snake-like robots with...
Highlights
With the development of science and technology, complex environment exploration, such as planetary surface exploration, is becoming research focus of main aerospace organizations of the world.[1]
The spherical structure can be equipped with universal passive wheel
When the tail is fixed, the snake robot can move freely in the plane, the sliding friction is translated into rolling friction by the passive wheel, which can reduce the friction, and it has the effect of compensating gravity when the space simulation is applied
Summary
With the development of science and technology, complex environment exploration, such as planetary surface exploration, is becoming research focus of main aerospace organizations of the world.[1] Since the environment to be explored is generally complex and unstructured, there exist many difficulties for traditional robots to perform the exploring mission. Mobile robots are very useful for complex environment exploration.[2,3] Bumpy ground, numerous obstacles, narrow workspace, and so on, bring great challenges to the robot working in the complex environment. A snake-like robot has slim and flexible body, driven by many motors. It moves using various types of gaits and is very useful for inspecting pipelines, holes, and disaster sites.[4,5] All joints are connected in series to form a hyper-redundant robot with multiple degrees of freedom (DOFs).
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