Development of a sensor-driven snake-like robot SR-I

摘要

Biologically inspired snake-like robot has been widely studied for its unique motion patterns. To achieve self-adaptive locomotion, a sensor-driven snake-like robot SR-I has been developed. Such robot can achieve self-adaptive locomotion by coupling sensory information with the motion control system. The design of the mechanism and control system of this sensor-driven snake-like robot is presented in the paper. Based on the sensory information, the implementations of terrain-adaptive locomotion and collision-free locomotion are investigated respectively. The performance of the collision-free locomotion is verified by conducting an experiment on the robot in an environment with obstacles.