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.

Abstract
1. 서 론
2. 이론적 분석
    2.1 기구학적 분석
    2.2 뱀의 움직임 분석
    2.3 시뮬레이션
3. 로봇의 설계 및 제작
    3.1 뱀로봇의 피부구조
    3.2 뱀 로봇의 구동모듈
    3.3 Quadnake
4. 실 험
    4.1 피부 구조의 마찰특성
    4.2 뱀형 구동의 기초실험
    4.3 Quadnake
5. 고 찰
6. 결 론
References

• 김성현(Undergraduate Student, DGIST) | Seonghyeon Kim
• 김예승(Undergraduate Student, DGIST) | Yeseung Kim
• 김민송(Undergraduate Student, DGIST) | Minsong Kim
• 송진혁(Undergraduate Student, DGIST) | Jinhyeok Song
• 윤동원(Department of Robotics, DGIST) | Dongwon Yun Corresponding author