Design and control architecture of a 3D printed modular snake robot

In this paper the design and construction of a 3D printed snake robot is presented. This snake robot has been designed to be able to complete a wide variety of tasks and motions that other snake robots are currently able to preform, such as serpentine motion, rolling and the ability to climb some objects. An approach is also investigated which allows the snake robot to be attached to the end of a serial manipulator robot to increase its available degrees of freedom. A modular design has been focused on, allowing for the fast and low cost generation and implementation of the robotic snake.