Pictures


Mexico ciy
In Mexico City, September 2017, we deployed the snake robot in a collapsed building. Here I am inserting the robot into a hole in the building with the help of a rescue worker.

Snake monster grasping
"Snake Monster" is a modular robot made up of snake robot modules, including elbow joints, feet, static links, grippers, and cameras.

Wireless, battery-powered Snake Monster

Snake monster investigating a railroad tie
Snake Monster with an articulated camera head and structured light sensor scans a railroad spike.

Snake robot slithering through a peg board 
A snake robot blindly feels its way through an unknown peg array using only joint torque and position readings.