Development of a snake-like robot

This paper presents the development of a robot that mimics the movement of a live snake. A prototype robot comprising six links was constructed. Torque actuators between the links modify the robot´s shape. Anisotropic friction between the links and the ground generates the force that propels the robot. A control variable that determines actuator angles is used to achieve a wave-like body motion. The corresponding signal is transmitted over a radio link. Two versions of the controller were made: in the first version, the control signal is transmitted from the controller to the robot with no feedback, while the second version includes a feedback connection. Measurements of average velocity and trajectory of the robot were performed with different control parameters. Basic properties of the robot´s movement are presented here