Snake like robot
We developed a snake like robot. The robot length is 130cm and diameter of 5cm. The robot has 18 motors in which every other joint axis is perpendicular to the previous one. The joints are actuated using servo motors with built in controller and serial communication. Therefore only three wires are present along the robot, two for power, and one for communication. The robot has a microcontroller in its tail allowing the robot moving with several motion patterns like screw like motion or sidewinding. The robot can be also wirelessly remotely control. We developed an odometry model for snake robots to estimate the robot location based on the kinematic interaction between the robot and the environment. The robot may be used for search and rescue applications to travel underneath collapsed buildings and look for survivors.