Motion fusion of rectilinear and serpentine gait in snake robot

A nature snake changes its gaits in different environment, so it is important for a snake-like robot to have more available gaits for a higher adaptability. In this paper, a novel snake-like robot is proposed to verify the motion fusion of rectilinear gait and serpentine gait. At first, the two gaits ant their fusions are analyzed and modeled. Then, the robot mechanism is designed to realize these gaits and their fusions independently. Finally, some experiments are performed to verify our ideas. This research has laid a foundation for the motion fusion of more gaits.