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Appl. Sci. 2017, 7(11), 1133;

Snake-Like Robot with Fusion Gait for High Environmental Adaptability: Design, Modeling, and Experiment

Department of Instrument Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
Department of Robotics, Ritsumeikan University, Kyoto 525-8577, Japan
Author to whom correspondence should be addressed.
Received: 22 September 2017 / Revised: 30 October 2017 / Accepted: 31 October 2017 / Published: 3 November 2017
(This article belongs to the Special Issue Bio-Inspired Robotics)
PDF [5300 KB, uploaded 3 November 2017]


A snake changes its gait to adapt to different environments. A snake-like robot that is able to perform as many or more gaits than a real-life snake has the potential to successfully adapt to a range of environments, similar to a real-life snake. However, only a few mechanisms in the current snake-like framework can perform common gaits. In this paper, a novel snake-like robot is developed to resolve this problem. A multi-gait is established and used as a reference for the articulation design. A non-snake-like mechanism with linear articulation is combined with the classical swing joint. A prototype is designed and constructed for verification and analysis. Two basic main gaits, namely, serpentine and rectilinear locomotion, are fused, and a novel obstacle-aided locomotion based on rectilinear motion is developed. The experiment demonstrates that the robot can generate all of the expected gaits with high movement efficiency. View Full-Text
Keywords: multi-gait; linear articulation; novel locomotion; movement efficiency multi-gait; linear articulation; novel locomotion; movement efficiency

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Wang, K.; Gao, W.; Ma, S. Snake-Like Robot with Fusion Gait for High Environmental Adaptability: Design, Modeling, and Experiment. Appl. Sci. 2017, 7, 1133.

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