ReBiS - Reconfigurable Bipedal Snake robot

Robots capable of switching between snake-like and bipedal motion have advantages of greater manoeuvrability. This paper introduces ReBiS (Reconfigurable Bipedal Snake) robot, a novel modular design mechanism which can quickly transform between various configurations without rearrangement of modules. This paper documents the design as well as the gaits implemented on ReBiS. Possible gaits are divided into three categories; snake gaits, transforming gaits and walking gaits. An example gait, belonging each of the three categories, is implemented and presented here. Experimental verification demonstrated that the reconfiguration of this robot is swift and without reshuffling of modules.