Locomotion and coiling motion control of snakelike robot using pneumatic actuators

This paper deals with locomotion and coiling motion control experiments of a snakelike robot which has passive wheels and active joints. First, a new snakelike robot is shown. This robot has pneumatic actuators for its driving joints that is more suitable for a coiling motion than electric motors and reduction gears. Then the motions have been realized experimentally applying feedback control to the robot.