Real-time shape estimation of a wire-driven soft snake-like robot based on micro-inertial sensors

Zhang, Minghui; Wu, Wenhui

doi:10.5194/ms-17-983-2026

Articles | Volume 17, issue 2

https://doi.org/10.5194/ms-17-983-2026

© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.

https://doi.org/10.5194/ms-17-983-2026

© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.

Articles | Volume 17, issue 2

Research article

|

02 Nov 2026

Research article |

| 02 Nov 2026

Real-time shape estimation of a wire-driven soft snake-like robot based on micro-inertial sensors

Minghui Zhang and Wenhui Wu

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Mech. Sci., 14, 1–13, https://doi.org/10.5194/ms-14-1-2023,https://doi.org/10.5194/ms-14-1-2023, 2023

Short summary

A flexible arm driven by ropes was designed, with a spring as the flexible spine. By connecting multiple flexible arm units in series, a continuous snake-like robot was formed. Based on a parabolic assumption and a sensor position offset compensation strategy, the three-dimensional centerline shape of the flexible arm was reconstructed in real time, providing a feasible technical path for the body perception and closed-loop motion control of the continuous snake-like robot.