SNAKE ROBOT USING OUTER COVER OF TUBE FORM AND CONTROL METHOD THEREOF

摘要

The present invention relates to a snake robot having a tube-shaped shell and a control method thereof. A snake robot according to an aspect of the present invention includes a hollow body configured by connecting a plurality of modules having drive shafts orthogonal to each other in a universal joint method; A supply part connected to one end of the body part; And a robot hand connected to at least a part of the supply unit and performing a task by gripping or releasing an object. Including, the supply unit, a tube inserted into the hollow of the other end of the body, and through the one end to move the first material related to the survival of the requestor to the outside; includes, and connected separation distance of the plurality of modules By narrowing or increasing the length, the total length of the body portion may be reduced or increased, and may be moved using a change in the total length of the body portion, and a contractible and expandable tube may be disposed on at least a portion of the surface of the body portion.