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. 2019 May 29;13:29. doi: 10.3389/fnbot.2019.00029

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Copyright © 2019 Jiang, Bing, Huang and Knoll.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Left: Control signals of turning left(–1), turning right(1) and going straight(0) for the snake-like robot. Right: The overhead view of the trajectory of the head module while tracking. From (A–H), eight experiment results are shown which are left-side standing pipe tracking in V-REP, right-side standing pipe tracking in V-REP, left-side lying pipe tracking in V-REP, right-side lying pipe tracking in V-REP, left-side standing pipe tracking in NRP, right-side standing pipe tracking in NRP, left-side lying pipe tracking in NRP, right-side lying pipe tracking in NRP.