Snake robots to the rescue!

Ismet Erkmen, Aydan M. Erkmen, Fumitoshi Matsuno, Ranajit Chatterjee, Tetsushi Kamegawa

Research output: Contribution to journalArticlepeer-review

68 Citations (Scopus)


The use of autonomous intelligent robots in search and rescue (SAR) is a new and challenging field of robotics dealing with tasks in extremely hazardous and complex disaster environments. Intelligent, biologically inspired mobile robots and, in particular serpetine mechanisms have turned out to be widely used robot types, providing effective, immediate, and reliable responses to many SAR operations. This paper outlines the challenges of serpentine search robot hardware, sensor-based path planning, and control design.

Original languageEnglish
Pages (from-to)17-25
Number of pages9
JournalIEEE Robotics and Automation Magazine
Issue number3
Publication statusPublished - Sep 1 2002
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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