Abstract:
The most amazing salient features of snake are its
flexibility of body undulation and flexible friction
impose to surrounding. Snake normally takes
advantage of narrow space, entering environment
full with obstacle and moving on sandy field which
possess uneven coefficient of friction. It seems the
research community overlooks the flexibility design
aspect of snake robot whereas snake by nature is a
flexible creature. Next, snake should search support
rather than avoiding it because support gives
constraint for effective propulsion. In this light, a
constraint based flexible body undulation support
snake robot will be built. The contribution of this
research is the flexibility design framework from
the body up to novel actuation system. This
approach will improve the overall performance of
snake robot.
