3D Printed ReBiS Robot performs Walking and Head Look gaits

THIS WORK HAS BEEN SUBMITTED TO ICRA 2015 Abstract: ReBiS: Re-configurable Bipedal Snake Robot is a modular open chain mechanism of a snake robot that can walk in multiple configurations. ReBiS achieves re-configuration without any re-arrangements of its modules. This paper introduces a novel optimization based approach to design 9-DOF walking gaits for ReBiS robot which can be used for tasks that are difficult for snake robots to perform such as stair climbing or passing over high obstacles, etc. The gene