Sidewinding is a form of locomotion executed by certain snakes and has been reconstructed
in limbless robots; the gait is beneficial because it is effective in diverse terrestrial …

Many animals generate propulsive forces by coordinating legs, which contact and push
against the surroundings, with bending of the body, which can only indirectly influence these …

Serially connected robots are promising candidates for performing tasks in confined spaces
such as search and rescue in large-scale disasters. Such robots are typically limbless, and …

Multi-legged animals (myriapods) such as centipedes move effectively in diverse terrain;
flexible bodies and limbs allow them to morphologically adapt to the environment. To …

Contact planning is crucial to the locomotion performance of robots: to properly self-propel
forward, it is not only important to determine the sequence of internal shape changes (eg …

Many quadrupedal animals use lateral degrees of freedom in their backs to assist
locomotion. This paper seeks to use a robotic model to demonstrate that back bending …

Limbless robots have the potential to maneuver through cluttered environments that
conventional robots cannot traverse. As illustrated in their biological counterparts such as …

Contact planning is crucial to the locomotion per-formance of limbless robots. Typically, the
pattern by which contact is made and broken between the mechanism and its environment …

Motion planning for mobile robots with many degrees-of-freedom (DoF) is challenging due
to their highdimensional configuration spaces. To manage this curse of dimensionality, this …

In this article, a radius estimation approach for snake robot's helical climbing motion is
proposed, which enables a snake robot successfully implementing compliant helical …