stevebattle:ACM III Active Cord Mechanism No.3 by Shigeo Hirose (1972). This biomimetic sn

stevebattle:

ACM III Active Cord Mechanism No.3 by Shigeo Hirose (1972). This biomimetic snake robot explores the way snakes move without legs using a serpentine motion. ACM III is 2m long and has 20 articulated joints along its spinal cord. Each segment has passive wheels that enable the robot to move on a flat surface by driving the joints with a periodic body wave motion. This produces a serpentine motion, propelling it forwards at a speed of around 40 cm/sec.