A survey on snake robot modeling and locomotion

• DOI: 10.1017/s0263574709005414
• Publication Date: 2009-03-03T10:49:47Z
• Authors: Aksel Andreas Tra...; Kristin Ytterstad...; Pål Liljebäck
• Keywords: Robot locomotion; Terrestrial locomotion; Search and rescue

SUMMARY Snake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or dangerous for personnel operate. During last 10–15 years, published literature on snake has increased significantly. The purpose of this paper is give a survey various mathematical models motion patterns presented robots. Both purely kinematic including dynamics are investigated. Moreover, different approaches biologically inspired locomotion artificially generated discussed.