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Exploring and navigating in extreme environments, such as caves, oceans, andplanetary bodies, are often too hazardous for humans, and as such, robots arepossible surrogates. These robots are met with significant locomotionchallenges that require traversing a wide range of surface roughnesses andtopologies. Previous locomotion strategies, involving wheels or ambulatorymotion, such as snake platforms, have success on specific surfaces but fail inothers which could be detrimental in exploration and navigation missions. Inthis paper, we present a novel approach that combines snake-like robots with anArchimedean screw locomotion mechanism to provide multiple, effective mobilitystrategies in a large range of environments, including those that are difficultto traverse for wheeled and ambulatory robots. This work develops a roboticsystem called ARCSnake to demonstrate this locomotion principle and tested itin a variety of different terrains and environments in order to prove itscontrollable, multi-domain, navigation capabilities. These tests show a widebreadth of scenarios that ARCSnake can handle, hence demonstrating its abilityto traverse through extreme terrains.

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility