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Review of snake robots in constrained environments
Liu, Jindong1; Tong YC(佟玉闯)2,3,4; Liu JG(刘金国)2,3
Source PublicationRobotics and Autonomous Systems
Indexed BySCI ; EI
EI Accession number20211610236036
WOS IDWOS:000649552900009
Contribution Rank2
Funding OrganizationNational Key R&D Program of China (Grant No. 2018YFB1304600) ; Natural Science Foundation of China (Grant No. 51775541) ; CAS, PR China Interdisciplinary Innovation Team (Grant No. JCTD-2018-11)
KeywordSnake robots Joint structure Control algorithms Constrained environment

Snake robots have advantages of terrain adaptability over wheeled mobile robots and traditional articulated robot arms because of their limbless thin body structure and high flexibility. They have extensive applications in tasks such as rescue, disaster recovery, inspection and minimally invasive surgery. Current research on snake robots is mainly focused on snake-like locomotion and the embodiment of these motion gaits for different applications. Modular structure and real-time control algorithms are two key aspects for snake robots operating in constrained environments. This review will attempt to address both. First, a review on the snake motion and the body structure is provided, which outlines the biological foundation of all snake robots. This is followed by the mechanical structure of snake robots, especially the structure of elemental snake modules. Finally, control algorithms for variant terrain contours and obstacle avoidance are discussed. The review also outlines emerging application areas and potential future directions of snake robots.

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Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Corresponding AuthorLiu JG(刘金国)
Affiliation1.Hamlyn Centre, Imperial College London, London, United Kingdom
2.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), China
3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences (CAS), China
4.University of the Chinese Academy of Science, Beijing, China
Recommended Citation
GB/T 7714
Liu, Jindong,Tong YC,Liu JG. Review of snake robots in constrained environments[J]. Robotics and Autonomous Systems,2021,141:1-27.
APA Liu, Jindong,Tong YC,&Liu JG.(2021).Review of snake robots in constrained environments.Robotics and Autonomous Systems,141,1-27.
MLA Liu, Jindong,et al."Review of snake robots in constrained environments".Robotics and Autonomous Systems 141(2021):1-27.
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