GMD-SNAKE2: a snake-like robot driven by wheels and a method for motion control

Based on the experience with our first GMD-SNAKE, we now present the next generation robot, the GMD-SNAKE2, which is a robot for inspection tasks in areas difficult to access by humans. We aim to imitate the natural scale-driven propulsion of a snake by wheels around the body. After a description of our robot we concentrate on a method for motion control. It allows a very flexible and consistent method of path planning and calculation where smooth curves are desired. It is applicable not only to snake-like movement, but to any wheeled robot which is able to control the curvature of its path.