Snake robots have been a popular choice for search and rescue operations in disaster-prone areas, cramped spaces, uneven terrain and in hazardous environments unfit for humans due to their flexibility, modular design and highly articulated body structure. One of the salient features required by these robots is the ability to climb multiple steps at a time. Inspired by biological snakes which can seamlessly change their shape according to the contour of stairs for climbing multiple steps, this paper proposes a ‘Step Morphing Gait’ which would enable the proposed snake robot design to ascend multiple steps at a time. Gait analysis in this paper shows the step by step procedure of how the gait is implemented. Also, a looping technique in this gait is developed which makes the problem of climbing multiple steps for hyper redundant systems intuitively easier to understand and implement in realtime simulated environment. Co-simulation results validate the proposed gait.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Gait Analysis of Multi-Step Climbing Active Wheeled Snake Robot


    Contributors:


    Publication date :

    2019-11-01


    Size :

    3317746 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Research on Pipeline Climbing Gait Control of Snake Robot Based on Compound Gait

    Liu, Zhifan / Wei, Wu / Liu, Xiongding et al. | IEEE | 2023


    Snake Robot Free Climbing

    Nilsson, M. | British Library Online Contents | 1998


    STM32-based multi-scene wheeled climbing robot

    LIU XUEFEI / DING MAOJU / YU YAO et al. | European Patent Office | 2024

    Free access

    STEP-CLIMBING ATTACHMENT FOR A WHEELED CHAIR

    BEHRENS MICHAEL | European Patent Office | 2018

    Free access

    Step-climbing attachment for a wheeled chair

    BEHRENS MICHAEL | European Patent Office | 2016

    Free access