Abstract:The versatility of snake robots has led to their use in a wide variety of settings, including archaeological sites, natural disaster zones, and nuclear power plants. Currently, snake robots locomote through these rugged environments using repeatable pre-programmed motions, often with underwhelming performance. This paper presents the novel design of a control architecture that addresses the limitations of preprogrammed motions by using contact information from the environment. The controller uses contact force… Show more
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