| Summary: | Problem statement: In snake robot research, one of the most efficient forms of locomotion
is the lateral undulation. However, lateral undulation, also known as serpentine locomotion, is illsuited
for narrow spaces, as the body of the snake must assume a certain amount of curvature to propel
forward. Approach: To overcome the inability to adapt to narrow spaces, a novel type of a gait was
introduced in this study. Scales, often overlooked in snake locomotion research, play an important role
in snake movement by increasing backward and lateral friction while minimizing it in forward
direction. In this study a new kinematic structure of a snake robot was proposed that uses scales
underneath the alternate links. Mathematical model of the structure for kinematics analysis was also
presented. Results: Kinematics analysis of the proposed snake model showed that snake motion was
possible with minimum of two actuators. However, higher numbers of actuators help distributed the
driving load and provided a redundant structure for managing accidental failure of any link. Lateral
displacement of the links was found to be less than the width of its body. Conclusion: Thus this
structure as well as the mathematical model was expected to help built snake robots for narrow space
applications like pipe inspection, disaster scenario mapping.
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