1A1-B14 Development of a 3-dimensional snake-like robot with an ability to detect ground pressure and its environmentally adaptive locomotion

Abstract

Snake performs locomotions adaptive to various environments. In this study, we develop a 3D snake-like robot, which can detect the normal force from the ground and has high mobility. In this report, we present an autonomous motion control method corresponding to the state of contact of the trunk with ground. As a result, the environmentally adaptive locomotion of a snake-like robot is achieved.