Snake robots - Modular snake robot(CMU)

As I mention before, snake use coiling motion to get enough friction force. This climbing strategy is used for climbing robots. I found two kinds of robot.

http://informationng.com/wp-content/uploads/2014/01/carnegie-mellon-robotic-snake.jpg

First kind of snake robot is made by CMU(Carnegie Mellon University). It's name is 'Modular snake robot'. It consist of many module describe in lower figure.

Design and Architecture of the Unified Modular Snake Robot

 It can climb up the human leg using their special rolling motion.

The important part is that robot’s movement mainly based on coiling motion of snake. It can also make stable coiling position like this. Major application of this robot is reconnaissance.