Embedded structural-actuator system for hyper redundant robot serpentine gait modeling

Snake like robot belong to a class of hyper redundant robot which possessing a lot of actuators and transmission subsystem. Normally the transmission subsystem is more bulky than the actuator themselves that increase the overall weight of the snake like robot. A way need to be found in order to convert the structure itself to be actuator and eliminate the bulky transmission system so that the weight can be optimized. This compact actuator-structural concept will allow high number degree of freedom system to be realized. Next, the robot itself needs to be flexible in order to enhance the embedded actuation concept and add the degree of operability of the robot with human interaction environment. This is because rigid robot is quite dangerous to itself and also to environment on impact during their movement. Thus, the main work of this research is to introduce embedded pneumatic muscle module for a system of flexible snake like robot. Compact embedded pneumatic system approach will be adopted in producing this design.