抄録
Hyper redundant snake-like robotic systems have many potential fields of use, but control complexity presents problems when attempting to climb obstacles. Helical and spiral rolling have been used to present a solution in large diameter cases. While helical rolling has been researched extensively, few attempts at climbing the outside of pipes and poles with non-rolling methods have been documented. Simplifying a gait from a boa constrictor, a new non-rolling helically posed gait may be used to present an alternative parameterized gait to the helical rolling method for pitch-yaw connected robotic snakes. This new gait may allow smaller diameter obstacles to be climbed.
