Biological systems, including human beings, have the innate ability to perform complex
tasks in a versatile and agile manner. Researchers in sensorimotor control have aimed to …

In nature, snakes can gracefully traverse a wide range of different and complex
environments. Snake robots that can mimic this behaviour could be fitted with sensors and …

Limbless locomotors, from microscopic worms to macroscopic snakes, traverse complex,
heterogeneous natural environments typically using undulatory body wave propagation …

In this paper, we develop an articulated mobile robot that can climb stairs, and also move in
narrow spaces and on 3-D terrain. This paper presents two control methods for this robot …

For many types of robots, avoiding obstacles is necessary to prevent damage to the robot
and environment. As a result, obstacle avoidance has historically been an important …

A non-wheeled snake robot can propel itself by pushing against obstacles. This is called
obstacle-aided locomotion. To expand the exploration range of a snake robot using this …

Highly articulated systems are capable of executing a variety of behaviors by coordinating
their many internal degrees of freedom to help them move more effectively in complex …

Inspired by the locomotor nervous system of vertebrates, central pattern generator (CPG)
models can be used to design gaits for articulated robots, such as crawling, swimming or …

This brief considers the problem of trajectory tracking of a planar snake robot without a
lateral constraint. The reference trajectory of the head position and the orientation of link 1 …

Manipulation of objects with underactuated dynamics remains a challenge for robots. In
contrast, humans excel at 'tool use'and more insight into human control strategies may …