Design and implementation of a snake-like robot with biomimetic 2-D gaits

Abstract

For the purposes of field explorations and rescues, this research designed and implemented a simple snake-like robot that can move in narrow space and various terrains. The frame of the robot was constructed by modular segments. Each segment consisted interlocked rings, connecting rods and servo-motors that enabled the robot to bend and oscillate the body and imitate the 2-D gaits of snakes. We used Motoduino module, Bluetooth, servo-motors and wireless micro-camera to activate the robot. In order to cut down the cost, the robot's skeleton and mechanical components were designed by 3-D printing using PLA material. The weight of the robot is about 960g and the size is 79cm x14cm x9cm. The maximum speed and the radius of gyration are about 16cm/sec and 21cm, respectively.