Evolution of a Modular Limbless Crawling and Climbing Robot

Terrestrial locomotion is fundamentally classified into three sorts: wheeled, legged, and limbless. In this paper a systematic approach has been made to develop a less expensive, off-road and self-governing crawling-climbing robot. The proposed design of the robot is limbless and modular which provides an opportunity to perform different locomotion by taking inspiration from biological systems. In the present study, two different variants of the modular limbless robot have been discussed with two different locomotion gaits which have been presented and illustrated through multiple experiments. The climbing environment is confined in a ferromagnetic flat plane by providing switchable electromagnets to the front and rear modules. Finally, a brief comparison between 2D and 3D body undulation has also been carried out.