Head trajectory tracking control of an extendable snake-like robot

In recent years, extendable snake-like robots are attracting researchers’ interest. A large number of degrees of freedom make it possible for the robots to perform new gaits. It is expected that the telescopic motion can also give the robots higher adaptability for the environment. In this paper, we propose a controller of an extendable snake-like robot for head trajectory tracking and show the effectiveness of the extendable snake-like robot by comparison to an ordinary snake-like robot.