Proposition of twisting mode of locomotion and GA based motion planning for transition of locomotion modes of 3-dimensional snake-like robot

We present a type of locomotion mode, path planning of shape transition, and design and implementation of a 3-dimensional hyper-redundant snake-like robot. First we explain the multiple locomotion modes, for example ring mode, inching mode, bridge mode, and so on. We propose a new type of locomotion "twisting mode" and analyze the principle of the locomotion based on statics. Next, the motion planning using genetic algorithm for transition of locomotion modes is explained and simulation results for the GA research is shown. Finally, we explain the designed prototype system and experimental results are shown.