Novel Gaits for Snake Robot Navigation in Complex External Pipe Networks

This paper introduces novel locomotion strategies for snake robots navigating complex external pipe networks, addressing challenges beyond simple pipe traversal. Existing gait-based control methods struggle with obstacles like valves and complex junctions such as T-shaped intersections. To overcome these limitations, we propose two new gaits: the spiraling gait and the windowed rolling helix gait. The spiraling gait enables autonomous obstacle avoidance by rotating the robot in a helical motion around the pipe axis, effectively navigating around obstructions. The windowed rolling helix gait facilitates seamless traversal of T-shaped junctions by allowing the robot to selectively extend and shift segments, enabling transitions between pipe branches with minimal user intervention. Experimental results demonstrate the effectiveness of these gaits in navigating diverse external pipe features, showcasing improved adaptability and autonomy compared to existing methods. This work advances snake robot capabilities for robust inspection and maintenance in complex industrial environments.