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@article{170594,
        author = {Avinash A. Kshirsagar and Jaysinh G. Jagdale and Sunil S. Barkade and Suresh R. Kumbhar},
        title = {Arduino-Powered Snake Robot: A Smart Solution for Urban Infrastructure Inspection},
        journal = {International Journal of Innovative Research in Technology},
        year = {2024},
        volume = {11},
        number = {7},
        pages = {1023-1026},
        issn = {2349-6002},
        url = {https://ijirt.org/article?manuscript=170594},
        abstract = {Robots are machines that perform mechanical and repetitive tasks with little to no interaction with humans. Robots are designed to remove human factors from dangerous workplaces and to act in an inaccessible environment. When it comes to pipeline inspection, snake robots can easily access a wide range of pipelines, including pipes in the oil industry (thick diameter) and sewer pipers (small diameter). Properties such as high trainability, redundancy, and the possibility of complete sealing of the body of the robot make snake robots very interesting for practical applications and hence as a research topic. During the last ten to fifteen years, the published literature on snake robots has increased vastly. However, no thorough review of the theory presented in this period regarding mathematical modelling techniques and the locomotion of snake robots has been found. The purpose of this paper is to give such a review. As a step towards enabling snake robots to move in cluttered environments, this paper proposes a control strategy that combines environment adaptation with directional control to achieve a straight-line path following control in environments with obstacles.},
        keywords = {Robotic snake, pipeline inspection, 3D Printer, IR sensor.},
        month = {December},
        }