Traveling wave locomotion hyper-redundant mobile robot

We propose a novel design for a teleoperated hyper-redundant snake robot. The kinematic structure, composed of links serially connected by revolute joints, allows it to move in a three-dimensional space. Configuration control is obtained by actuation cables and passive springs. Locomotion is based on a traveling wave lying in a vertical plane orthogonal to the support surface. The robot is able to operate in narrow sites and partially unstructured environments, where obstacles, such as stairs, inclined planes and gaps, are present. The paper focuses on the design issues related to the mechanical implementation and the kinematic control of locomotion