Event

Snake robot proposes low-clearance steerable rolling gait S-Rolling

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Qingling Fan and Zhongqiang Ren propose S-Rolling, a steerable rolling gait for snake robots with twistable joints, and validated it on a physical robot: the robot passed through a test track with 10 cm clearance and completed maneuvering tasks beneath large workpieces and car chassis. The gait is designed based on an S-shaped planar backbone curve, with the head and tail segments rolling at independently controlled angular velocities, thereby producing different motion modes; the authors also established a quasi-static kinematic model that maps the rolling speeds of each segment to the robot's linear and angular velocities.