Journal article, Peer reviewed
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Original versionAnnual Reviews in Control. 2017, 44 19-44. 10.1016/j.arcontrol.2017.09.006
The inspiration for snake robots comes from biological snakes. Snakes display superior mobility capabilities and can move over virtually any type of terrain, including narrow and confined spaces. They are good climbers, very efficient swimmers, and some snakes can even fly by jumping off branches and using their body to glide through the air. Also, a snake robot is a highly articulated robot manipulator arm with the capability of providing its own propulsion. In this work, we review recent results on modeling, analysis, and control of snake robots moving both on land and underwater. We also describe a new research direction within snake robotics, where underwater snake robots are equipped with thrusters along the body to improve maneuverability and provide hovering capabilities, and how this robot addresses current needs for subsea resident robots in the oil and gas industry.