SnakeTrack, A Bio-Inspired, Single Track Mobile Robot with Compliant Vertebral Column for Surveillance and Inspection

This paper presents the conceptual and embodiment design of a bio-inspired single track ground mobile robot, named SnakeTrack, designed for surveillance and inspection tasks in unstructured environments with narrow spaces. Its main components are the vertebral column, characterized by two end modules and a variable number of vertebrae connected by compliant joints, and the peripherical track. The robot is actuated by four motors, two for the track motion and two to command the lateral flexion of the vertebral column for steering, while limited passive torsion and retroflexion of the vertebral column are allowed by the compliant joints to adapt to terrain unevenness, improving traction. Vision is provided by two cameras placed on the end modules, behind the tracks, which are characterized by dedicated openings. The pitch of vertebrae and tracks is equal, then the robot is modular, and its length can be changed on the basis of the environment features and the required onboard equipment.