Development of a snake-like robot

Abstract

This paper presents the development of a robot that mimics the movement of a live snake. A prototype robot comprising six links was constructed. Torque actuators between the links modify the robot's shape. Anisotropic friction between the links and the ground generates the force that propels the robot. A control variable that determines actuator angles is used to achieve a wave-like body motion. The corresponding signal is transmitted over a radio link. Two versions of the controller were made: in the first version, the control signal is transmitted from the controller to the robot with no feedback, while the second version includes a feedback connection. Measurements of average velocity and trajectory of the robot were performed with different control parameters. Basic properties of the robot's movement are presented here