Snake Robot
Overview:
Snake like robots have structural characteristics such as multi-degrees of freedom, multi-joints and modular structure, which allows them to move using various methods and good adaptabilities. Compared to wheeled and legged mobile mechanisms, the snake robot offers high stability. It can travel through almost all types of terrains. So it can be used for many applications such as rescue missions, fire-fighting and maintenance where it may either be too narrow or too dangerous for personnel to operate.
Insight:
This design, based on the minimal required links to perform the various snake gaits.The snake is made up of total 8 links.To generate the gaits for various motions,a curve fitting algorithm is used.Then the joint angles in the vertical and horizontal joints can be calculated using
This has been demonstrated in the video below:-
