Development of a mechanical snake robot for obstacle-aided locomotion

Abstract

In this chapter, we describe the development of the snake robot Kulko. While the snake robot Wheeko was used as the experimental platform in Part I of this book, Kulko serves as the experimental platform in Part II. The joint modules of Kulko are covered by contact force sensors to allow the robot to sense its environment, and spherical shells that give the robot a smooth outer surface, thereby allowing slithering (gliding) motion in uneven and cluttered environments. In the following, we will detail the design and implementation of the robot, and present experimental results that validate the function of the contact force measurement system. At the end of this chapter, we will also propose an alternative strategy for contact force sensing, which has the advantage that the sensor system can be well protected inside the snake robot.