SenSnake: A snake robot with contact force sensing for studying locomotion in complex 3-D terrain
Divya Ramesh,Qiyuan Fu,Chen Li,Divya Ramesh,Qiyuan Fu,Chen Li
Despite advances in a diversity of environments, snake robots are still far behind snakes in traversing complex 3-D terrain with large obstacles. This is due to a lack of understanding of how to control 3-D body bending to push against terrain features to generate and control propulsion. Biological studies suggested that generalist snakes use contact force sensing to adjust body bending in real ti...
