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Toward the sense of touch in snake modular robots for search and rescue operations

Snakes modular robots are good candidates for being used in Urban Search And Rescue (USAR) operations because of their flexibility, good adaptation to the terrain and small section. We propose to design and build snake robots that combine three capabilities: locomotion, climbing and grasping. The last one allows the robot to remove objects for clearing the path to the trapped people. The sense of touch is key to achieving these three capabilities. To implement it, our novel approach is based on the idea of touch rings and touch strips. In this paper some preliminary ideas are presented.