Traversing Between Two Planes Using Obstacle-Aided Locomotion of a Snake Robot

This letter proposes two types of connecting parts for the obstacle-aided locomotion of a non-wheeled snake robot to move between two planes. One method involves lifting the robot's head vertically, while the other method involves winding around an obstacle to avoid toppling over when moving to a higher plane. The operator can adjust the height and directions by changing the parameters of the connecting part to enable the robot to move on unknown two non-parallel planes. We confirmed the effectiveness of our method through experiments.