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Original Article
Design and Development of Serpentine Locomotion Robot for Industrial Gas Pipeline Crack Detection Application
R. Sunilkumar1
Daphne Natania.R2
Haritha. M3
1 Assistant Professor, B. E. Robotics and Automation, United Institute of Technology, Anna University, Coimbatore, Tamilnadu, India. 2 3 B. E. Robotics and Automation, United Institute of Technology, Anna University, Coimbatore, Tamilnadu, India.
Published Online: May-June 2026
Pages: 102-112
Cite this article
↗ https://www.doi.org/10.59256/ijire.20260703011References
[1] A. A. Kshirsagar, J. G. Jagdale, S. S. Barkade, and S. R. Kumbhar, “Arduino-Powered Snake Robot: A Smart Solution for Urban
Infrastructure Inspection”, International Journal of Innovative Research in Technology (IJIRT), vol. 11, no. 7, Dec. 2024.
[2] S. Kawankar, J. Khan, S. Puthran, and M. Ranade, “Design and Development of Vision Controlled Snake Robot”, Proceedings of
the 9th National Conference on Role of Engineers in Nation Building (NCRENB-2021), VIVA Institute of Technology, 2021.
[3] I. Virgala, M. Kelemen, P Božek, Z. Bobovský, M. Hagara, E. Prada, P. Oščádal, and M. Varga, “Investigation of Snake Robot
Locomotion Possibilities in a Pipe,” June 2020.
[4] X. Zhu, Y. Zhang, Z. Qiu, Z. Shan, S. Cai, and G. Bao, “Locomotion Control of a Rigid-Soft Coupled Snake Robot in Multiple
Environments”, Biomimetic Intelligence and Robotics, vol. 4, 2024.
[5] Y. Luo, J. Liu, Y. Gao, and Z. Lu “Smartphone-Controlled Robot Snake for Urban Search and Rescue,” In Proc. ICIRA 2014, LNCS
8917, pp. 352–363, Springer, 2014.
[6] V. Arun Kumar, A. B. Adithya, and P. T. Bijoy Antony, “Snake Robots for Rescue Operation”, IOP Conference Series: Materials
Science and Engineering, vol. 1055, 2021.
[7] Shigeo Hirose, Edwardo F. Fukushima, “Snakes and Strings: New Robotic Components for Rescue Operations”, The International
journal of Robotics Research, April 2004, vol. 23 no. 4-5 341-349.
[8] Blessy Mariam Markose, Harshitha Loke, “Intelligent vision based snake robot”, International Journal of Research in Engineering
and Technology, eISSN: 2319-1163, pISSN: 2321-7308.
[9] Mazda Moattari, Mohammad A. Bagherzadeh, “Flexible snake robot: Design and implementation”, 2013 3rd Joint Conference of AI
& Robotics and 5th RoboCup Iran Open International Symposium, Iran, 2013.
[10] F. Trebuňa et al., “An Inspection of Pipe by Snake Robot,” Journal of Applied Robotics, 2016.
[11] J. Liu et al., “Multi-Gait Snake Robot for Inspecting Inner Wall of a Pipeline,” Biomimetic Intelligence and Robotics, 2024.
[12] E. Lucet et al., “A Teleoperated Robotic Solution to Pipe Inspection and Corrosion Detection,” arXiv, 2024.
[13] H. Qi et al., “Tracing and Localization System for In-Pipe Inspection Robot,” Expert Systems with Applications, 2009.
[14] C. Xu et al., “Research and Application of Pipeline Robots in Oil and Gas Industry,” Engineering Reports, 2025.
[15] “Application of Snake-Like Robot in Pipeline Inspection,” ResearchGate Publication, 2024.
[16] “IR-Based Snake Robot for Pipeline Inspection Using IoT,” International Journal of Engineering Research & Technology (IRJET),
2023.
[17] P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, “Snake Robots: Modelling, Mechatronics, and Control,” Springer
Tracts in Advanced Robotics, vol. 117, Springer, 2013.
[18] A. A. Transeth, R. I. Leine, C. Glocker, and K. Y. Pettersen, “Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations,
and Experiments,” IEEE Transactions on Robotics, vol. 24, no. 1, pp. 88–104, Feb. 2008.
[19] Hirose. S, Biologically Inspired Robots: Snake-Like Locomotors and Manipulators; Oxford University Press: Oxford, UK, 1993.
[20] C. Branyan, Y. Menğüç, Soft snake robots: Investigating the effects of gait parameters on locomotion in complex terrains, in: 2018
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2018, pp. 1 –9.
Infrastructure Inspection”, International Journal of Innovative Research in Technology (IJIRT), vol. 11, no. 7, Dec. 2024.
[2] S. Kawankar, J. Khan, S. Puthran, and M. Ranade, “Design and Development of Vision Controlled Snake Robot”, Proceedings of
the 9th National Conference on Role of Engineers in Nation Building (NCRENB-2021), VIVA Institute of Technology, 2021.
[3] I. Virgala, M. Kelemen, P Božek, Z. Bobovský, M. Hagara, E. Prada, P. Oščádal, and M. Varga, “Investigation of Snake Robot
Locomotion Possibilities in a Pipe,” June 2020.
[4] X. Zhu, Y. Zhang, Z. Qiu, Z. Shan, S. Cai, and G. Bao, “Locomotion Control of a Rigid-Soft Coupled Snake Robot in Multiple
Environments”, Biomimetic Intelligence and Robotics, vol. 4, 2024.
[5] Y. Luo, J. Liu, Y. Gao, and Z. Lu “Smartphone-Controlled Robot Snake for Urban Search and Rescue,” In Proc. ICIRA 2014, LNCS
8917, pp. 352–363, Springer, 2014.
[6] V. Arun Kumar, A. B. Adithya, and P. T. Bijoy Antony, “Snake Robots for Rescue Operation”, IOP Conference Series: Materials
Science and Engineering, vol. 1055, 2021.
[7] Shigeo Hirose, Edwardo F. Fukushima, “Snakes and Strings: New Robotic Components for Rescue Operations”, The International
journal of Robotics Research, April 2004, vol. 23 no. 4-5 341-349.
[8] Blessy Mariam Markose, Harshitha Loke, “Intelligent vision based snake robot”, International Journal of Research in Engineering
and Technology, eISSN: 2319-1163, pISSN: 2321-7308.
[9] Mazda Moattari, Mohammad A. Bagherzadeh, “Flexible snake robot: Design and implementation”, 2013 3rd Joint Conference of AI
& Robotics and 5th RoboCup Iran Open International Symposium, Iran, 2013.
[10] F. Trebuňa et al., “An Inspection of Pipe by Snake Robot,” Journal of Applied Robotics, 2016.
[11] J. Liu et al., “Multi-Gait Snake Robot for Inspecting Inner Wall of a Pipeline,” Biomimetic Intelligence and Robotics, 2024.
[12] E. Lucet et al., “A Teleoperated Robotic Solution to Pipe Inspection and Corrosion Detection,” arXiv, 2024.
[13] H. Qi et al., “Tracing and Localization System for In-Pipe Inspection Robot,” Expert Systems with Applications, 2009.
[14] C. Xu et al., “Research and Application of Pipeline Robots in Oil and Gas Industry,” Engineering Reports, 2025.
[15] “Application of Snake-Like Robot in Pipeline Inspection,” ResearchGate Publication, 2024.
[16] “IR-Based Snake Robot for Pipeline Inspection Using IoT,” International Journal of Engineering Research & Technology (IRJET),
2023.
[17] P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, “Snake Robots: Modelling, Mechatronics, and Control,” Springer
Tracts in Advanced Robotics, vol. 117, Springer, 2013.
[18] A. A. Transeth, R. I. Leine, C. Glocker, and K. Y. Pettersen, “Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations,
and Experiments,” IEEE Transactions on Robotics, vol. 24, no. 1, pp. 88–104, Feb. 2008.
[19] Hirose. S, Biologically Inspired Robots: Snake-Like Locomotors and Manipulators; Oxford University Press: Oxford, UK, 1993.
[20] C. Branyan, Y. Menğüç, Soft snake robots: Investigating the effects of gait parameters on locomotion in complex terrains, in: 2018
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2018, pp. 1 –9.
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