Development of an amphibious snake-like robot

摘要

This paper presents an amphibious snake-like robot's design. This amphibious snake-like robot, mainly composed by 8 Modular Universal Units, is waterproof and can move smoothly in the water while pressurized with O-rings and other essential accessories. The control equations for each gait are introduced. Due to its special joint design and the feature of being densely covered by vanes, the robot is endowed with an omnipotent ability of amphibious locomotion. Experiments both on the land and in the water have been made to testify the function of the amphibious snake-like robot.