Snakebots are robots inspired by snakes that are constructed of linked modules, allowing them to move into tight spaces. They have various applications in space exploration, the military, and medicine. Snakebots can maneuver inside the human body to assist with medical procedures or slither underground to perform geological surveys. Some examples include rescue snakebots developed by the US Army and medical snakebots created by Carnegie Mellon University. They work by using sensors to guide motors in each module via a central computer and microcontrollers, enabling different types of locomotion. While promising versatile robots, snakebots also face control and path planning challenges.

1. SNAKEBOT

2. INTRODUCTION
• A snakebot is a biomorphic hyper-redundant
robot that resembles a snake.
• Snakebots are constructed by chaining
together a number of independent links
• Currently being used for Space ,Military and
Medical applications

3. MAIN FEATURES
• Small cross section to length ratio allows
them to move into tight spaces
• Ability to change the shape of their body
allows them to perform a wide range of
behaviours

4. NEED FOR SNAKEBOT
• Autonomy
• High mobility
• Robustness
• Modularity

6. FUNCTIONS
• Utilization of robotics technology for human
assistance in any phase of rescue operations
• Snakebots will slither and dig underneath the
soil for geological surveying
• Medical Snakebots can maneuver around
organs inside a human chest cavity

7. BASIC PROTOTYPES DEVELOPED
• Fire fighting snakebot developed by SINTEF
• Medical snakebot developed at Carnegie
Mellon University
• Space-Snakebots developed by NASA
• Rescue-Snakebots developed by US Army

8. Sensor
Control
Unit
ActuatorI/P O/P

9. BASIC PARTS
• Central Computer
• Microcontrollers
• Motors
• Sensors
• Wheels/Conveyor Belts
• Gears
• Camera
• Connecting Rods

10. WORKING
• Central computer works in conjunction with
smaller computers in each module
• Microcontrollers interpret signals from the
main computer to control movement
• Sensors will indicate if the snake is in contact
with anything
• Motors move the various parts in each
module

11. • Wheels are responsible for transporting the
snakebot
• Gears allow movement of the hinges
• Camera for vision and recording images
• Connecting Rods will pull and activate the
section next to it

13. DIFFERENT TYPES OF MOVEMENT
• Move forward with rectilinear or lateral
motion.
• Move right/left with flapping motion.
• Change of direction

14. TYPES OF LOCOMOTION MODE
• Line mode
• Wheeled-locomotion mode
• Inching mode
• Ring mode
• Bridge mode

17. OTHER APPLICATIONS
• Bridge inspection
• Rescue operation under trench
• Spy purpose Operations

18. ADVANTAGES
• Small in size and weight
• Versatility
• Reliability
• Low expenses

19. DISADVANTAGES
• Hard to control
• Cannot optimize its own path

20. CONCLUSION
• Serpentine mechanisms, with their wide range
of capabilities, face major design challenge
mechanism design, path
planning, control, and sensor integration.
• The test versions of the snakebot have been
remote controlled. Eventually, scientists will
find ways to give these robots a form of
intelligence so that they can operate by its
own

21. REFERENCES
• Shigeo Hirose, “Biologically Inspired
Robots”, Oxford University Press, 1993, ISBN 0-
19-856261-6.
• J. P. Ostrowski and J. W. Burdick, “Gait
kinematics for a serpentine robot”, In Int.
Conf. On Robotics and Automation, 1996
• Howstuffworks.com
• Wikipedia.org

22. QUESTIONS??

23. THANK YOU