Self-assembling and self-reconfiguring robots have the ability to adapt to different or varying environments and carry out complex tasks. Robots competent of performing serpentine gaits and transforming into legged systems impart a wide range of locomotion schemes. Most of the reconfigurable robotic solutions consist of a large number of complicated mechanisms to detach and re-attach at different places making the system fragile and increase its size, weight and power (SWaP). We propose Reconfigurable Quadrupedal-Bipedal Snake Robots (ReQuBiS) to easily transform into these forms. Experimental results demonstrate the mobility in snake, quadruped and biped modes and transition between them with minimal change in modules.


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    Title :

    ReQuBiS - Reconfigurable Quadrupedal-Bipedal Snake Robots


    Contributors:

    Publication date :

    2021-05-30


    Type of media :

    Preprint


    Type of material :

    No indication


    Language :

    English



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