Abstract
Unlike other types of robots, the snake robot performs unique motions and can move on various terrains such as gravel, stairs, and pipes. Therefore, snake robots are used as exploration robots, rescue robots, and disaster robots. However, the snake robot requires to choose actuators, sensors, and controllers appropriately for overcoming the real environment by using various types of gait. In this paper, we summarized research trends of snake robots for understanding the state of the art technologies of snake robots. We focused on the various development of the snake robots based on previous snake robots’ literature. To look more closely at these research trends, we introduced trends of motion, actuators, sensors, kinematic structure design, control method and application that are related with the snake robots. Snake robots can conduct several motions such as sine wave, side winding, rolling, and so on. These motions are generated by servo motors, DC motors, pneumatic actuators, and smart materials like SMA, IPMC, etc. Also, snake robots require certain data from sensors and proper kinematic structure design to achieve their purposes of operation. Sensors such as camera, force sensor, distance sensor, and kinematic structure design such as passive wheel and motorized wheel can be applied in snake robot for implementing the function or increasing the driving performance. Based on these physical components, the control method is important for operating the snake robot. Navigating algorithms and overcoming terrains with restrictions on movement have been studied with a various control methods.
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This material is based on work supported by the Ministry of Trade, Industry & Energy (MOTIE, Korea) under the Industrial Technology Innovation Program. No. 20003739.
Junseong Bae is a Ph.D. candidate at Daegu Gyeongbuk Institute of Science & Technology (DGIST). His research interests include design and analysis of the snake robots.
Myeongjin Kim is a Ph.D. candidate in the Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST). His research interests include design of jumping robot.
Bongsub Song is a Ph.D. candidate in the Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST). His research interests include robotic communication.
Junmo Yang is a Ph.D. candidate in the Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science & Technology (DGIST). His research interests include design of medical robots.
Donghyun Kim is a Ph.D. candidate at Daegu Gyeongbuk Institute of Science & Technology (DGIST). His research interests include design of grippers.
Maolin Jin received his B.S. degree in material science and mechanical engineering from Yanbian University of Science and Technology, Jilin, China, in 1999, and his M.S. and Ph.D. degrees in mechanical engineering from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2004 and 2008, respectively. He is currently a Director & Chief Researcher with the Human-centered Robotics Research Center of the KIRO, Pohang, Korea. His research interests include robust control of nonlinear plants, time-delay control, and robot motion control. Dr. Jin serves as an associate editor of the International Journal of Control, Automation, and Systems (IJCAS), Journal of Drive and Control, and Journal of the Korean Society for Precision Engineering.
Dongwon Yun received his B.S. degree in mechanical engineering from Pusan National University, Korea, in 2002, an M.S. degree in mechatronics engineering in 2004 from GIST, Korea, and a Ph.D. degree in mechanical engineering from KAIST, Korea, in 2013, respectively. He was a Senior Researcher for Korea Institute of Machinery and Materials from 2005 to 2016. He joined the Department of Robotics Engineering, DGIST in 2016 as an Assistant Professor and became an Associate Professor in 2021. His research interests include bio-mimetic robot system, industrial robot system & mechatronics, soft robotics, and sensors & actuators.
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Bae, J., Kim, M., Song, B. et al. Review of the Latest Research on Snake Robots Focusing on the Structure, Motion and Control Method. Int. J. Control Autom. Syst. 20, 3393–3409 (2022). https://doi.org/10.1007/s12555-021-0403-7
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DOI: https://doi.org/10.1007/s12555-021-0403-7