Underground Locomotion by Snake-like Robot

摘要

This paper introduces a compact snake-like robot that assists Digbot, a digging robot with contra-rotating drills. Since Digbot itself cannot generate propulsion, it has to be pushed forward by other devices which is connected at the end of Digbot. We propose to develop a kind of snake-like robot as a propulsion system for Digbot. Inspired by movement of biological snakes in a narrow space, concertina locomotion is realized by 5 servo motors in soil which is applied in the motion under soil underground. A propulsion of 92 N is achieved by means of an anchoring mechanism at the tail of snake-like robot.