Development of a Segmented Body Serpent Robot with Active Head Floating Control

Traditionally engaging in search and rescue operations within collapsed structures introduces a range of significant risks that directly impact the safety of the responders involved. Thus, robots have emerged as invaluable assets in search and rescue operations. Their unique capabilities address the challenges faced in locating and rescuing victims in various scenarios One of the remarkable solutions is the utilization of serpent-shaped robots for traversing through confined places of a collapsed building. Serpent robots can navigate over tight gaps depending on what surface is accessible.In this study, a segmented-body and cilia-driven serpent robot was developed. The serpent robot body and head assembly were designed and analyzed. 32 segments of the robot body were made, and it was found that a modularized segmented body is more functional. The single-segment and 32-segment bodies were tested on three different surfaces. The single segment showed higher speed in tiles and plywood since it is lightweight. In contrast, the 32-segment body was faster at 59.865 mm/s on concrete surfaces than on tiles and plywood surfaces.Active control for maneuvering and balancing control was developed. The implemented pneumatic floating head control for the serpent robot head was able to do left and right ma-neuvering by controlling its roll angle and yaw angle. The head is also capable of returning to its original position. It can move up to 245 mm distance from its initial position either during right or left maneuvering. Moreover, the developed segmented -body serpent robot was subjected to different obstacles and effectively traversed 40 mm obstacle height, passed through an 80 mm hole with a 200 mm length, and its head can elevate up to 138 mm height.