Modular Snake Robot

Abstract

Modular Snake Robot is the concept of robot development to mimic principles in nature, which is the performance of cells in living organisms and has the function of a module. Each working unit has the same form and basic job. It can be connected to other units to create different structures responding to the changing environments. When some parts are damaged, the remaining structure can be altered and continue to operate. Modular systems that we see in everyday life are human cells and movements of animals with joints like snakes, worms, eels, squids, etc.

MSR-1 Snake Robot with an Ability to Crawl and Explore an Inclined Pipe

This research aims to study the parameters that contribute to the crawling performance of the snake robot inside an inclined pipe. Different motion shapes were tested such as sinusoidal wave or triangular wave.

MOMO-1 Wheeled Snake-Like Robot to Explore Disaster Areas 

This research aims to test the ability of the robot when moving itself up an incline and turning to a pipe with an angle of 90 degrees to find the suitable movement pattern to explore environments with wheels.

MOMO-2 Active-Wheel Active-Joint Wheeled Snake-Like Robot

This research aims to study the locomotion of a wheeled snake-like robot in different environments. The robot was developed with the 3D control system to experiment with various types of ground levels.

MOMO–3 Multi-Joint Robot for Pipe-Climbing 

The main objective of this research is to study the behavior and factors affecting the pipe climbing of a multi-joint robot or Hyper-Redundant Robot using helix and spiral paths.