Knot Tying, Hanging, and Transporting Motions of Snake Robots by Utilizing Half-Hitch Knot

This paper proposes a hanging motion for snake robots by utilizing half-hitch knot tying, which is a type of rope work. The proposed method prevents a robot from falling off a pipe by tying it to the pipe. In addition, the robot can hang from a pipe by grasping it using the knotting part. The parts other than the knotting part can be operated arbitrarily and applied to various actions. We propose a transporting motion as one of the applications of the hanging motion. The effectiveness of the proposed motion was experimentally verified using an actual robot.