Snakes utilize irregularities in the terrain, such as rocks and vegetation, for faster and more efficient locomotion. This motivates the development of snake robots that actively use the terrain for locomotion, i.e. obstacle aided locomotion. In order to accurately model and understand this phenomenon, this paper presents a novel non-smooth (hybrid) mathematical model for wheel-less snake robots, which allows the snake robot to push against external obstacles apart from a flat ground. The framework of non-smooth dynamics and convex analysis allows us to systematically and accurately incorporate both unilateral contact forces (from the obstacles) and isotropic friction forces based on Coulomb's law using set-valued force laws. The mathematical model is verified through experiments. In particular, a back-to-back comparison between numerical simulations and experimental results is presented. It is furthermore shown that the snake robot is able to move forward faster and more robustly by exploiting obstacles.

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SUMMARYSnake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10-15 years, the published literature on snake robots has increased significantly. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artificially generated motion patterns for snake robots are discussed.

A nonsmooth (hybrid) 3-D mathematical model of a snake robot (without wheels) is developed and experimentally validated in this paper. The model is based on the framework of nonsmooth dynamics and convex analysis that allows us to easily and systematically incorporate unilateral contact forces (i.e., between the snake robot and the ground surface) and friction forces based on Coulomb's law of dry friction. Conventional numerical solvers cannot be employed directly due to set-valued force laws and possible instantaneous velocity changes. Therefore, we show how to implement the model for numerical treatment with a numerical integrator called the time-stepping method. This method helps to avoid explicit changes between equations during simulation even though the system is hybrid. Simulation results for the serpentine motion pattern lateral undulation and sidewinding are presented. In addition, experiments are performed with the snake robot "Aiko" for locomotion by lateral undulation and sidewinding, both with isotropic friction. For these cases, back-to-back comparisons between numerical results and experimental results are given.

In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion) and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion) to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.

Abstract-This paper presents a mechanism for navigating complex pipe structures, both horizontally and vertically. The mechanism consists of a series of identical modules interconnected by two degree of freedom active joints. A set of active wheels on each module provides propulsion. Horizontal motion is achieved through a train-like scheme, while vertical motion is achieved through spanning the pipe alternatingly with the modules. The design and the capability of horizontal and vertical motion is validated through experiments.

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Abstract-This paper considers the problem of model based control of the joints of a snake robot without wheels. The potential range of applications for snake robots are numerous, and delicate operations such as inspection and maintenance in industrial environments or performing search and rescue operations require precise control of a snake robot joints. To this end we present a controller that asymptotically stabilizes the joints of the snake robot to a desired reference trajectory. The controller is based on input-output linearization of a control plant model of the snake robot dynamics also developed in this paper. In addition, we provide a formal Lyapunov-based proof of the closed-loop stability, together with simulation results for a smooth dynamical model. Finally, the performance of the controller is tested on a non-smooth snake robot model with set-valued Coulomb friction that offers an accurate description of the stick-slip transitions during locomotion.