Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 60, Issue 1, Pages 29-40Publisher
ELSEVIER
DOI: 10.1016/j.robot.2011.08.010
Keywords
Snake robots; Review; Modelling; Implementation; Control
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This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, and finally control design efforts for snake locomotion. The review shows that the majority of literature on snake robots so far has focused on locomotion over flat surfaces, but that there is a growing trend towards locomotion in environments that are more challenging, i.e. environments that are more in line with realistic applications of these mechanisms. (C) 2011 Elsevier B.V. All rights reserved.
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