Purpose Snake-inspired robots are of great significance in many fields because of their
great adaptability to the environment. This paper aims to systematically illustrate the …

For a mobile robot undergoing serpentine locomotion, an accurate dynamic model is a
fundamental requirement for optimization, control, navigation, and learning algorithms. Such …

Snake-like modular robots (MRs) are highly flexible, but, to traverse a challenging terrain or
explore a region of interest, MR needs to attain efficient locomotion depending on a tradeoff …

Grasping objects by continuum arms or fingers is a new field of interest in robotics.
Continuum manipulators have the advantages of high adaptation and compatibility with …

In this paper, modeling and control of a robotic carrier for the cleaning system of solar power
plants is presented. Since solar panels are placed at natural environments, there is always a …

Accuracy and numerical calculation time are the two main challenges of continuum robots
dynamics modeling. In fact, the numerical calculation times of exact models are so long, that …

To address the instability issues encountered by snake robots during climbing variable
diameter pipes and curved pipes, a compound gait that combines decoupled climbing gait …

Most of the research conducted on snake robots has been on movement, control or
dynamics. In this paper we discuss the motion control which accomplishes the trajectory …

This paper proposes Gait Decomposition (GD), a method of mathematically decomposing
snake movements, and Gait Parameter Gradient (GPG), a method of optimizing …

Snake robots are mostly designed based on single mode locomotion. However, single mode
gait most likely could not work effectively when the robot is subject to an unstructured …