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Ladder Climbing with a Snake Robot

This paper presents a method that allows a snake robot to climb a ladder. We propose a ladder climbing method for a snake robot that has a smooth surface shape. We design a novel gait for the snake using a gait design method that configures the target form of the snake robot by connecting simple shapes. The climbing motion is executed via shift control and the corresponding motion required to catch the next step on the ladder. In addition, we developed a snake robot that has a smooth exterior body surface through construction of pectinate-shaped parts of the links. We demonstrated the effectiveness of both the proposed gait and the design of the snake robot experimentally.