Snake robots are slower than wheeled robots or legged robots, while they have an excellent terrainability in a disastrous area. Considering their advantages and disadvantages, a legged robot whose legs are snake robots, ‘Quadnake’ was proposed in this research. Five motions of the snake were analyzed. Applying these motions, Quadnake could implement eight kinds of motions which snake robots and quadruped walking robots can implement. As a result of it, Quadnake can have the advantages of both a snake robot and a walking robot. It is expected to move stably in a harsh terrain with snake’s motion and move fast with walking.

This paper proposes functional test methods of first-aid gadgets which are special end-effectors, for relief robot. In recent years, researches have been actively conducted on robots that can perform rescue operations on behalf of rescue workers in dangerous areas such as disasters and wars. These special robots mainly perform the task of finding or transporting injured people. However, it is sometimes they necessary to provide first aid in the field. Among the various first-aid operations, gadgets are being developed for oxygen supply, injection, and hemostasis operations that can be used in a defense/civilian area by using robot technology. Previous studies have proposed first-aid gadgets that are suitable for onsite situations and enable robots to perform the given task quickly and accurately. In this paper, we design a test procedure suitable for the functions of first-aid gadgets, summarize the results, and introduce future research directions.