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Snake robots, sometimes called hyper-redundant mechanisms, can use their many degrees of freedom to achieve a variety of locomotive capabilities. These capabilities are ideally suited for disaster response because the snake robot can thread through tightly packed volumes, accessing locations that people and conventional machinery otherwise cannot. Snake(More)
— Many factors such as size, power, and weight constrain the design of modular snake robots. Meeting these constraints requires implementing a complex mechanical and electrical architecture. Here we present our solution, which involves the construction of sixteen aluminum modules and creation of the Super Servo, a modified hobby servo. To create the Super(More)
—This paper describes a series of gaits which we developed for a free crawling snake robot. Snake robots, a class of hyper-redundant mechanisms, can use their many degrees of freedom to achieve a variety of locomotion capabilities. Like their biological counterparts, snake robots locomote using cyclic motions called gaits. These cyclic motions directly(More)
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