A bio-mimetic snake-like robot: Sensor based gait control

Abstract

This paper presents the design of a snake-like robot capable of moving with serpenoid motion presented by snakes in real world. A mechanism for measuring the contact between surface and robot is designed and finally, using the data collected by the sensors, a controller is designed for optimizing the motion on surfaces with different coefficients of friction. Experiments are conducted and results show the efficiency of the controller.