ARCSnake: Reconfigurable Snakelike Robot With Archimedean Screw Propulsion for Multidomain Mobility

Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that require traversing a wide range of surface roughnesses and topologies. Previous locomotion strategies, involving wheels or ambulatory motion, such as snake pla...