Abstract: A robotic snake comprising a plurality of friction anchors, a plurality of segments and a plurality of servo motors are disclosed. Each of the plurality of segments includes a first link and a second link connected at a first joint, a third link connected to the first link at a second joint, a fourth link connected to the second link at a third joint, a fifth link connected to the third link at a fourth joint. The simultaneous rotation of third link and fourth link of each of the plurality of segments results in a translational movement and/or a rotational movement. A plurality of servo motors is configured to rotate plurality of joints. The fifth link of one segment and first link of next segment of the each of the plurality of segments act as a quaternary link serially connects each of the plurality of segments.

Abstract: A robotic snake comprising a plurality of friction anchors, a plurality of segments and a plurality of servo motors are disclosed. Each of the plurality of segments includes a first link and a second link connected at a first joint, a third link connected to the first link at a second joint, a fourth link connected to the second link at a third joint, a fifth link connected to the third link at a fourth joint. The simultaneous rotation of third link and fourth link of each of the plurality of segments results in a translational movement and/or a rotational movement. A plurality of servo motors is configured to rotate plurality of joints. The fifth link of one segment and first link of next segment of the each of the plurality of segments act as a quaternary link serially connects each of the plurality of segments.