Prototype of a Wheel Type Snake Type Robot for Miniaturization

The snake type robot is a robot imitating a snake of an organism. Since it has an elongated shape and can perform various motions, it is expected to play an active role in searching disaster sites where rubble is scattered. In this study, we aim to miniaturize a snake type robot with a wheel drive mechanism. We conducted experiments such as stepping over steps to evaluate the performance and identify future issues.