Development of a Degree-of-Freedom-Saving Snake Robot for Sidewinding Promotion

-Development of Unit Clause with Crossed Helical Gear Mechanism-

Abstract

We have been researching and developing snake robots that can move over fragile ground. Real snakes living in desert can move over sand using sidewinding locomotion. To realize this locomotion by a snake robot with three-dimension movements, many active DOFs are required to lift its body segments. In this study, we focus on the regularity of sidewinding locomotion, and report the design of a mechanism to lift the body segments in conjunction with active degrees of freedom in the horizontal direction, the design of gears to realize this mechanism and prototypes using a 3D printer.