A review on modelling, implementation, and control of snake robots

This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, and finally control design efforts for snake locomotion. The review shows that the majority of literature on snake robots so far has focused on locomotion over flat surfaces, but that there is a growing trend towards locomotion in environments that are more challenging, i.e. environments that are more in line with realistic applications of these mechanisms.

► We provide an overview of previous literature on snake robot locomotion.
► Modelling, physical implementation, and control design for snake robots is considered.
► The majority of the literature so far has focused on flat surface locomotion.
► There is a growing trend towards locomotion in environments that are more challenging.