Design and forward kinematic analysis of a robotic snake

G. Migadis, K. J. Kyriakopoulos

Research output: Contribution to journalConference articlepeer-review


In this paper a new kind of robotic mechanism is proposed to be used for inspection tasks in complex setups of industrial plants. The shape and motion capabilities of biological snakes are adopted as generic design guidelines. We propose a multiarticulated mobile robot, with a body consisting of repeating modules, capable for both moving efficiently and reaching points inside complicated or unstructured areas, where human personnel cannot reach or work properly. An analysis of the basic design along with most of the component specifications is presented. Finally, we present its forward kinematics, as a first step towards controlling it.

Original languageEnglish (US)
Pages (from-to)3493-3498
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 1997
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) - Albuquerque, NM, USA
Duration: Apr 20 1997Apr 25 1997

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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