Flexible Hyper-Redundant Robot State of the Art

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.