抄録
Researches for snake robots has been studied and they are hoped to be made practicable. In this research, it is assumed that environments where snake robots work constructed by pipes which are arranged parallel and densely. We made a snake robot which has joints of yaw and pitch using servo motor Dynamixel XL-320, and software to control the robot. This robot is so tiny that we accomplish a task of elevation in the mock environment using helical-rolling motion. In addition, we propose a new motion so we call as across-pipes motion which can move from a pipe to another pipe.
