One of the important advantages of an active wheeled snake-like robots is that it can access narrow spaces which are inaccessible to other types of robot (such as crawlers, walking robots), since snake-like robots have an elongated, narrow body. Additionally, in areas with rubble, snake-like robots can traverse rough terrain and large obstacles since its body can conform to the terrain's contours. ACM-R8' is a new snake-like robot which can climb stairs and reach doorknobs in addition to the features explained above. To fulfill these functions, the design of this robot incorporates several key features: joints with parallel link mechanism, mono-tread wheels with internal structure, force sensors and swing-grousers' which were developed to improve step climbability. In this paper, the design and control methods are described. Experiments confirmed high mobility on stairs and steps, with the robot succeeding in overcoming a step height of 600mm, despite the height of the robot being just 300mm.
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