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Soft robotic snakes (SRSs) have a unique combination of continuous andcompliant properties that allow them to imitate the complex movements ofbiological snakes. Despite the previous attempts to develop SRSs, many havebeen limited to planar movements or use wheels to achieve locomotion, whichrestricts their ability to imitate the full range of biological snakemovements. We propose a new design for the SRSs that is wheelless and poweredby pneumatics, relying solely on spatial bending to achieve its movements. Wederive a kinematic model of the proposed SRS and utilize it to achieve twosnake locomotion trajectories, namely sidewinding and helical rolling. Thesemovements are experimentally evaluated under different gait parameters on ourSRS prototype. The results demonstrate that the SRS can successfully mimic theproposed spatial locomotion trajectories. This is a significant improvementover the previous designs, which were either limited to planar movements orrelied on wheels for locomotion. The ability of the SRS to effectively mimicthe complex movements of biological snakes opens up new possibilities for itsuse in various applications.

Wheelless Soft Robotic Snake Locomotion: Study on Sidewinding and Helical Rolling Gaits