A robot snake to inspect broken buildings

We build a snake-like robot for the inspection of areas that are difficult or dangerous to be accessed by human. Pictures from a camera at the robot´s head are sent to a remote screen and can be monitored by a human operator. This human operator can also control the robot´s motion, but not every single body part. Thus the operator only gives general directives and the robot will then able to follow autonomously the given directives. This is the semi-autonomous behavior of the robot. However, the robot must also be able to act fully autonomous when the contact to the operator is lost. After a short description of the robot we present a method which makes the operator control easy and also allows the robot to act fully autonomous. The autonomous motion control of the robot moving in a sewer pipe has been implemented