ARCSnake: An Archimedes’ Screw-Propelled, Reconfigurable Serpentine Robot for Complex Environments
Dimitri A. Schreiber,Florian Richter,Andrew Bilan,Peter V. Gavrilov,Hoi Man Lam,Casey H. Price,Kalind C. Carpenter,Michael C. Yip,Dimitri A. Schreiber,Florian Richter,Andrew Bilan,Peter V. Gavrilov,Hoi Man Lam,Casey H. Price,Kalind C. Carpenter,Michael C. Yip
This paper presents the design and performance of a new locomotion strategy for serpentine robots using screw propulsion. The ARCSnake robot comprises serially linked, identical modules, each incorporating an Archimedes' screw for propulsion and a universal joint (U-Joint) for orientation control. When serially chained, these modules form a versatile serpentine robot platform which enables the rob...
