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Design and Experimental Validation of a Multimodal Snake Robot with Elliptical Wheels
Xuan Xiao1, Zizhu Zhao1, Lianzhi Qi2
1School of Computer Science and Technology, Tiangong University, Tianjin 300387, China.
Biomimetics (Basel, Switzerland)
|August 27, 2025
Summary
This study introduces JiAo-II, a novel multimodal snake robot combining body-based and wheeled locomotion. This innovation enhances snake robot speed and adaptability on complex terrains without advanced sensing.
Area of Science:
- Robotics
- Mechanical Engineering
- Mechatronics
Background:
- Snake robots offer flexibility and adaptability but struggle with efficient forward propulsion.
- Existing solutions like wheels or legs can hinder optimized gaits.
Purpose of the Study:
- To develop a multimodal snake robot, JiAo-II, integrating body-based and wheeled locomotion for enhanced terrain traversal.
- To present the mechanical design, focusing on elliptical wheels and gear transmission.
Main Methods:
- Designed and implemented the JiAo-II multimodal snake robot.
- Integrated innovative elliptical wheels and a specialized gear transmission mechanism.
- Conducted experiments on diverse terrains and challenging scenarios.
Main Results:
- JiAo-II demonstrated effective locomotion across grasslands, gaps, slopes, pipelines, and cylindrical surfaces.
- Wheel-body coordinated locomotion proved robust on uneven ground without external sensing.
- Significant enhancements in locomotion speed, terrain adaptability, and robustness were observed.
Conclusions:
- The multimodal mechanism substantially improves snake robot performance.
- JiAo-II offers a versatile solution for complex terrain navigation.
- This approach overcomes limitations of traditional snake robot locomotion.
