Gesture Based control of Snake robot

In this paper we present a new gesture based control for snake robot using a custom developed accelerometer based data glove. This Snake robot which was biologically inspired was developed for the purpose of search and rescue and serve as a research platform for its locomotion analysis. The locomotion of Snakes is because a differential curve traveling in its body from the head to the tail and the traction it generates from the surface because of such a traveling wave. This has several controllable parameters like amplitude, frequency, phase difference, angular velocity etc. By changing these parameters the Snake robot can change from sidewinding (as used by the desert snakes), crawling (like caterpillars) or even lift its hood up to look behind an obstacle like a king kobra.