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This paper describes the conditions that a snake robot must meet in order to be able to grasp an object with a circular cross-section. The type of grasp is of the enveloping type, and the conditions to guarantee a grasp with form-closure using three contacts, the minimum number of contacts possible, are presented. The first contribution of this paper is the(More)
Snakes and worms are capable of travelling through tightly confined spaces on a resistance medium using rectilinear locomotion. To apply this kind of gait into snake-inspired robots, some fundamental properties remain elusive. In this paper, we present a n-segment kinematic model of the snake robot based on an ideal anchor assumption. Then, the(More)
Snake robots are highly redundant robots that could potentially be used as robotic arms, allowing them to interact with the environment. However they do not have a fixed base, making them difficult to control accurately. In this paper, a complete modeling approach and an optimization algorithm are presented that show the torques that allow a snake robot to(More)
Robots capable of both locomotion and interaction with the environment are necessary for robots to move from ideal laboratory situations to real applications. Snake robots have been researched for locomotion in unstructured environments due to its unique and adaptable gaits. However, they have not been used to interact with the environment in a dexterous(More)
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