Pneumosnake – Snake robot with pneumatic bellows

Pneumosnake was developed as a cooperation between SINTEF and the Department of Engineering Cybernetics at NTNU. The robot was developed in order to investigate joint actuation based on pneumatic bellows. Three custom-made pneumatic bellows are mounted in each joint module. By regulating the pressure in each bellow, the motion along the two degrees of freedom in each joint may be controlled.

Technical data

• Length: 1 m
• Weight: 2 kg
• Number of DOFs: 10
• Angular flexion in each joint: +/- 25 degrees
• Actuators: Pneumatic bellows

Contact person at SINTEF Applied Cybernetics: Pål Liljebäck