Turning method that minimizes turning radius for snake-like robot with active joints and active wheels

Snake-like robot which has active joints and thruster mechanisms has been proven to have its high mobility on narrow and rough terrain because of its slim and long trunk. However, larger space than its slim trunk is necessary for snakelike robot to turn. Thus, in order to improve the mobility of snake-like robot, turning method which makes turning radius smaller is needed. In this paper, a new turning method for snake-like robot which has both pitch and yaw joints, and thruster mechanism in each module is proposed. In this method, both pitch and yaw joints are bent to their limits, and take advantage of steep bent area which are not used normally. This new method was applied to an active snake-like robot ACM-R8, and experimented in physics simulations and hardware experiments. As a result of these experiments, it was confirmed that the new method made the turning radius smaller.