Reason-A Technical Journal (Formerly Reason-A Technical Magazine)

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To design an outdoor mobile Robot is more challenging work than the indoor mobile Robot because it has to have capability of operation at all weather conditions and terrains. When it is a Serpentine Robot, it is more difficult to control its motion and path. Snake like robots are being made since 1972, but nowadays many researchers are trying to achieve a snake like robot without limb. Though various works were done and various technologies were invented, but there are many opportunities left.

Serpentine robot may be limbless or with limb. Biological snakes are pervasive across the world, for their various locomotion mode and physiology they are able to locomot in wide variety of terrains and environment. It will be excellent if one is able to capture this type of locomotion in a mechanical system. The aim of this paper is to summarize the work that has already been done in this field and emphasize on future work. This paper will help one understand the mechanism of serpentine locomotion and various snake gaits.


Keywords

Serpentine Robots (SR), Rectilinear Motion, Gaits.
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