A Reconfigurable Snake Robot Based on CAN-Bus

Abstract

This paper introduces the project "Snake Robot" we made for our National Innovation Fund. This snake robot has the ability to creep and wriggle. It adapts reconfiguration in the design of mechanism, control and supervising software, and brings in CAN-Bus which makes it possible that snake robot can extend infinitely in theory. The trial outcome proves that the snake robot can control easily, move flexibly and finish serpentine and wriggle locomotion very well.