Towards a convivial control interface for a snake-like robot

A number of prior and actual work is available on hyper-redundant and especially snake-like mechanisms, including our project. Since mechanical conception and control of this kind of machines meet difficulties and require a certain research effort, the majority of related works focus on these areas. There is not any specific proposal about "how to interface such a robot in order to control". The paper discusses some ideas on a convivial robot-human interface envisaged for testing control algorithms of a snake-like robot. This project consists of a real-time simulation of a snake locomotion type known as lateral undulation in order to develop a prototype. Discussion of the interfacing problem follows a brief overview of snake locomotion and the presentation of our snake model and progression strategy.