Central to the modsnake mission is the ongoing development of motions and behaviors. The snakes locomote using cyclic base functions called 'gaits', which can be run by a computer and drive the snake indefinately. Additionally, combining these gaits and other control techniques leads to the development of 'behaviors', in which the snake robots can perform a higher-level task such as stair climbing. Ultimately, the goal is to develop these snake robots' behaviors to allow them to perform useful tasks in the field tasks.
© Copyright 2005 Biorobotics Lab, Carnegie Mellon University. All Rights Reserved.
© Howie Choset, 2005