A SEMINAR REPORT

ON

SNAKEBOTS

Submitted in partial fulfilment of the requirements

for the award of B.Tech degree

BY:

SAMIKSHYA TRIPATHY
(15011925)

SUPERVISOR:

Dr. KAMAL PAL

Mr. BIRENDRA KUMAR BARIK

DEPARTMENT OF PRODUCTION ENGINEERING

VEER SURENDRA SAI UNIVERSITY OF TECHNOLOGY,BURLA

APRIL, 2019

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 DECLARATION

I hereby declare that the seminar report entitled “SNAKEBOT” represents the information in my own
words and where others’ words have also been included. I have referenced the original sources. I also
declare that I have adhered to all principles of academic honesty and integrity and have not misrepresented
or fabricated or falsified any idea/data/fact/source in my submission. I understand that any violation of the
above will be cause for disciplinary action as per the rules of regulations of the institute.

Date: Signature

Place: Name:Samikshya Tripathy

Regd No.:15011925

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 ACKNOWLEDGEMENT

In presenting a seminar on “SNAKEBOT”, I am greatly indebted to Dr.KAMAL PAL and

Mr.BIRENDRA KUMAR BARIK, Department of Production Engineering, VSSUT, Burla for
providing an insight into the topic, building the concept and providing some of the precious inputs and
guidance for the seminar.

I am grateful to all our teachers in bringing out the inquisitiveness about this topic, sorting out the lacunas
in the seminar through their kind co-operation and advice.

I am grateful to the Head of the Production Engineering Department, Dr. Debabrata Dhupal, and all
concerned faculty members for providing me inspiration to work on this topic with great interest.

SAMIKSHYA TRIPATHY (15011925)

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 CERTIFICATE

This is to certify that the seminar entitled “Snakebot” by Ms. Samikshya Tripathy (15011925) has been
completed for partial fulfilment for the award of degree of Bachelor of Technology in the Department of
Production Engineering of Veer Surendra Sai University of Technology.

Dr. Debabrata Dhupal Mr. Birendra Kumar Barik

Head of the Department Assistant Professor

Department of Production Engineering, Department of Production Engineering

VSSUT, Burla VSSUT, Burla

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 ABSTRACT

Over the recent decades, the robots have invaded the industry and robotics community has also been
developing bio inspired robots, driven by the need for more efficient, economical, autonomous, highly
flexible and maneuverable robotic systems for several difficult operations. Certain bio inspired robots like
Octobot, Hexa, Cassie, snakebots have already been developed. Inspired by the motion of the biological
snakes, snake robots have been developed. Snakes show superior mobility and can move over various
terrains, including narrow and compact spaces. They also are good climbers, efficient swimmers, and some
can even fly by jumping off the branches and using their body just to glide through the air. Thus they show
many types of locomotion. Due to different variations in locomotion they are able to perform different
operations. A snake robot is highly segmented robot manipulator arm with capability of providing its own
propulsion. They are mainly used for search and rescue operations, geological surveying, underwater
exploration and more recently, in the field of medicine. With the serpentine mechanism, snakebot have
been doing certain advantageous work at a low cost. Moreover certain technical advancements are required
for developing intelligence of snakebots.

This report mainly highlights certain applications, advantages and disadvantages of snakebots.

KEYWORDS: Snakes, Snake robot, robots, locomotion

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 TABLE OF CONTENTS

Abstract ................................................................................................................................... v
List of figures ......................................................................................................................... vii
Chapter 1-Introduction ............................................................................................................ 1
Chapter 2-About Snakebot ...................................................................................................... 2
2.1. Historical Review .......................................................................................................... 2
2.2. Types of Snakebots ....................................................................................................... 2
2.3. Basic Principle of Snakebot .......................................................................................... 3
2.4. Major Properties ............................................................................................................ 4
Chapter 3-Elements Of Snakebot ............................................................................................ 5
3.1. Basic Parts and Working .........................................................................................................................5
Chapter 4- Types Of Locomotion ........................................................................................... 7
Chapter 5- Applications In Major Fields ................................................................................ 8
5.1 Important uses in different fields..................................................................................................8
5.1.1 In field of Medicines........................................................................................................................8
5.1.2 In Search and Rescue Operations ....................................................................................................8
5.1.3 To control aggressive creatures .......................................................................................................8
5.1.4 Geological Surveying ......................................................................................................................8
5.1.5 Other uses ........................................................................................................................................9
5.2 Various prototypes developed. ...............................................................................................................9
Chapter 6- Advantages And Disadvantages .......................................................................... 10
Chapter 7- Conclusion ........................................................................................................... 11
7.1. Future of Snakebots .................................................................................................................................11
References ............................................................................................................................. 12

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 LIST OF FIGURES

Figure2.1 Typical snake-like robots on land.[1] 2

Figure2.2Typical amphibious snake-like robots.[1] 2
Figure2.3The snake robot WHEEKO developed for locomotion across
flat surfaces.[2] 3
Figure2.4The snake robot KULKO developed for locomotion in uneven
and cluttered environments.[2] 3
Figure.4.1 Types of locomotion of Snakebots 7

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 CHAPTER 1-INTRODUCTION

Snakebots, also known as snake robots are the articulated robotic mechanisms designed to move just like
the biological snakes. The advantage is their long and flexible body, which allows them to move and work
in challenging environments where human presence is not possible. The future applications of these robots
include search and rescue operations, geological surveying, maintenance and inspection in industries,
medical operations and subsea operations. Due to the presence of several degrees of freedom and unique
forms of movement, snakebots has many control design challenges.[4]

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 CHAPTER 2-ABOUT SNAKEBOT

Snake robots or Snakebots are the bio inspired robots showing serpentine mechanisms. These perform
many difficult-to-do operations that are quite impossible for humans to do.

2.1. Historical Review

From several decades research on snakebot is being conducted. In 1972, the world’s first snake robot was
developed in Japan. Still there are many theoretical and practical aspects of snakebot locomotion which is
not yet developed. [4]

2.2. Types of Snakebots

Basically snake robots are also classified based on the place they operate in, types of terrain they
are working on, etc.

➢ Based on place they operate in:

I. In Land:

Figure 2.1. Typical snake-like robots on land

II. In water:

Figure2.2 Typical amphibious snake-like robots.

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 ➢ Based on the type of terrain:

I. Across flat surfaces:

Figure2.3The snake robot WHEEKO developed for

locomotion across flat surfaces.

II. In uneven and cluttered environments:

Figure2.4 The snake robot KULKO developed for locomotion in uneven and
cluttered environments.

2.3. Basic Principle of Snakebot

The Snake robots are made up of independent modules that are connected to each other and the
controlling head through certain links. The joints between each neighbouring segments are
constructed of elastic rubbers and a cord. (As in a real biological snake)

The communications to the segments are achieved by the serial interface of micro-controllers located
in each and every segment. The relative movements of segments are due to wrapping and
unwrapping of the cord.

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 The robot follows ‘Master-Slave principle’ where head is the master and it controls all other
modules. The master is capable of changing status of each slave, located in every segment of
snakebot according to its controlling algorithm and feedback signals those are received from each
slave unit.

2.4. Major Properties

Snakebots show wide range of properties which helps in application of varieties of fields like army,
medical, earthquake rescue, etc.

The main properties of snakebots are:

• They have small cross section to length ratio which allows them maneuver through tight spaces.
• Their ability to change their body shapes, allows them to perform wide range of behaviours, such as
climbing the stairs or tree trunks, swim through water.
• Many snake robots are also constructed by joining together number of independent links. This
redundancy makes them resistant to failure as due to this property they can even continue to operate
even if parts of their body are destroyed.
• High Terrainability(It can work in any type of terrains, be it be rough,flat,uneven,etc)
• It has the possibility of complete sealing of the body of the robot.

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 CHAPTER 3-ELEMENTS OF SNAKEBOT

Snakebots mainly has a main central computer which controls all other small parts like camera, sensors,
actuators, wheels, etc

3.1. Basic Parts and Working

Snakebots consists of several parts which work in conjunction with each other to give the specified
operation. They are:

➢ Central Computer

• Each snakebot has a central computer located in the snakebot's head, which works in
conjunction with all the smaller computers or module.
• Wires help in connecting each module to its neighbouring modules that creates a network
of modules which works together as a single unit.

➢ Microcontrollers

• Microcontrollers are the tiny computers which interprets signals from the main computer to
control all the movements.

➢ Sensors

• These sensors help in detecting the snake’s contact with anything.

➢ Motors
• Two servomotors are mainly used to move various parts in each module. Each motor is
activated by signals from the main processor (computer).

➢ Wheels

• Each module is equipped with one wheel which is not only helps in transporting but also
eases the movement.

➢ Gears
• Working in conjunction with the central computer, the gears allows the movement of
hinges.
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➢ Camera

• Small cameras are attached to the snakebots for recording images.

➢ Connecting Rods
• The ball-jointed connecting rods pull and activate the section next to it when one section
begins to move.

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 CHAPTER 4- TYPES OF LOCOMOTION

Traditionally developed snakebots locomote purely by changing their body shape, just like snakes. But
recently many variants have been developed which uses wheels for locomotion.

Till now no snakebots have been developed yet which can totally mimic the locomotion of the real snakes.
But researchers have developed ways of moving that do not occur in nature.

The below mentioned movements are some of the Snakebot’s locomotions:

Figure.4.1 Types of locomotion of Snakebots

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 CHAPTER 5- APPLICATIONS IN MAJOR FIELDS

Snakebots having different types of locomotion and properties can be used in various applications.

5.1 Important uses in different fields.

Robots have already invaded the industry and, more recently, the field of medicine, army,
geological surveying, etc.

5.1.1 In field of Medicines

Recently Snakebots is being used for certain surgical treatments like removal of throat tumours,
abdominal endoscopy .Use of such robots allows the surgeon to perform more complex and multiple
operations than that would be possible by the conventional laparoscopic surgery.[5]

5.1.2 In Search and Rescue Operations

These are used in search and rescue operations during disasters like earthquake. They can go
under debris with certain sensors that are required and help in tracking survivors in need of help. After it
identifies the survivor, it sends a GPS signal to the rescue team. After getting the location constraints, the
team will rescue the person and snakebot moves for rescuing other survivors.

5.1.3 To control aggressive creatures

Snakebots are used for capturing aggressive animals in a non-fatal way by taser guns or by
emitting electrical shock whenever the animal is infront.And then due to the electric shock the snakebots
gets paralyzed.

5.1.4 Geological Surveying

They have the ability to dig underneath the soil for certain investigation and explore a planet.

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5.1.5 Other uses

▪ Snakebots may be sold as radio-controlled toys in near future.

▪ These robots may be used in future for performing construction tasks.
▪ They can also coil up to carry tools for construction in space.
▪ They have the ability to explore fossils or water on another planet. After some years,
it can also be used for Mars exploration.
▪ Snakebots are also used for detecting landmines and buried explosives.

5.2 Various prototypes developed.

• Rescue-snakebots were developed by US Army for search and rescue operations during wars.
• Space-snakebots are being developed by NASA for exploring MARS.
• Medical–snakebots are developed by Carnegie Mellon University, used for various surgical
treatments.
• Earthquake–snakebot developed by SINTEF, used for search and rescue operation during
earthquakes.

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 CHAPTER 6- ADVANTAGES AND DISADVANTAGES

Advantages:

Several advantages of movement of a robot that mimics the motion of a snake are:

▪ They can move across any terrain, can also move in uneven terrain since they are not dependent on
wheels
▪ They can swim and operate underwater if water-proofed.
▪ They can move in soft ground such as sand, as they can distribute their weight across a wider area.
▪ The snake robot is modular with many redundant segments. So, it is easy to replace the broken
segments and shorten or lengthen the robot. Due to this property it is also resistant to failure.
▪ They are quite versatile in nature and can adapt to any environment.
▪ The low expenses of its construction and maintenance is also a bigger advantage over others.

Disadvantages:
Although there are several advantages of a snake robot, still there are some disadvantages. They are:

▪ They have low movement efficiency and power.

▪ The cost of actuators (servos or motors) used in construction of snakebots are quite high.
▪ Several joints results in multiple degrees of freedom that becomes quite difficult to control.

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 CHAPTER 7- CONCLUSION

Inspired by the motion of the biological snakes, objective of developing the snakebots has been to perform
multiple operations in several fields. With wide range of operational capabilities and locomotive features,
the designing of these robots are quite difficult and challenging.

Many research challenges still remains before seeing more useful applications, and much remains to be
understood and known about the dynamics of these fascinating robotic mechanisms. The prototypes made
have been remote controlled which needs more design modifications. Eventually, scientists are trying to
find ways of intelligence for these robots so that they can work on their own.

7.1. Future of Snakebots

The snakebots are currently being researched as a totally new type of robotic, interplanetary probe by
engineers at the NASA Ames Research Center. Some software for these robots are also being developed by
NASA so that they would be able to learn by experience the skills to scale obstacles and remember those
techniques for future use.

Snake robots are also being developed for more search and rescue operations at Carnegie Mellon
University's Biorobotics Lab.

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 REFERENCES

[1] Z. Lu et al., “Study on the motion control of snake-like robots on land and in water,” Perspect. Sci.,
vol. 7, pp. 101–108, Mar. 2016.

[2] K. Y. Pettersen, “Snake robots,” Annu. Rev. Control, vol. 44, no. 223254, pp. 19–44, 2017.

[3] https://www.slideshare.net/foxers93/snakebotppt1

[4] K. Y. Pettersen, P. Liljebäck, ø. Stavdahl, and J. T. Gravdahl, “Snake Robots From Biology to
Nonlinear Control,” IFAC Proc. Vol., vol. 46, no. 23, pp. 110–115, Jan. 2013.

[5] S. Hans, B. Delas, P. Gorphe, M. Ménard, and D. Brasnu, “Transoral robotic surgery in head and
neck cancer,” Eur. Ann. Otorhinolaryngol. Head Neck Dis., vol. 129, no. 1, pp. 32–37, Feb. 2012.

[6] https://en.wikipedia.org/wiki/Snakebot

[7] https://yourstory.com/mystory/aa9a3f68b4-snake-robots

[8] https://electronics.howstuffworks.com/snakebot2.htm

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