Biomimetic Climbing Gaits for a Snake Robot

Mobile robotics have long been considered a possible tool for everything from remote diagnostics to search and rescue. Snake-like robots in particular have shown significant promise in search and rescue operations due to their ability to traverse a very wide range of sizes and shapes. Such robots can crawl in spaces not much larger than the robot itself, as well as climb over obstacles nearly as tall as the robot is long [1]. The low center of gravity in legless locomotion prevents fall damage due to incorrect gaits or shifting environments, while articulation allows for navigation in terrain that would be impractical to traverse with wheeled robots. Modular versions allow for greatly improved reliability do to easy replacement of individual underperforming modules rather than requiring on site diagnosis and repairs. The purpose of the research was to find ways to improve mobility in vertical obstacles normally found in the field. Climbing of pipes, poles, and cables allows these robots to avoid climbing less stable areas of loosely packed debris by using common building materials like plumbing and electrical wiring. The robot could theoretically climb itself or its tether for added mobility. While rope like structures present their own unique problems during climbing, pole climbing techniques may provide viable solutions.