ARCSnake V2: An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot

TL;DR

ARCSnake V2 addresses the challenge of locomotion across hard ground, granular media, and underwater environments by integrating Archimedean screw propulsion with a hyper-redundant, cable-driven snake architecture in a waterproof platform. The approach combines a modular screw-drive system, 3D-printed U-joints, and an adaptive buoyancy system to achieve controllable motion across multiple domains, supported by CAN-based communication and onboard sensing. Key contributions include a waterproof mechanical design with IP67-like sealing, a buoyancy system with torus bladders and foam-filled shells, and validated underwater maneuverability, screw-drive performance, and depth control. The results demonstrate ARCSnake V2 as a versatile platform for exploration, environmental monitoring, and search-and-rescue, with demonstrated capabilities for sample collection and underwater manipulation; future work will push autonomous operation and scalability through sensor fusion and system-level optimization.

Abstract

Robotic exploration in extreme environments such as caves, oceans, and planetary surfaces pose significant challenges, particularly in locomotion across diverse terrains. Conventional wheeled or legged robots often struggle in these contexts due to surface variability. This paper presents ARCSnake V2, an amphibious, screw propelled, snake like robot designed for teleoperated or autonomous locomotion across land, granular media, and aquatic environments. ARCSnake V2 combines the high mobility of hyper redundant snake robots with the terrain versatility of Archimedean screw propulsion. Key contributions include a water sealed mechanical design with serially linked screw and joint actuation, an integrated buoyancy control system, and teleoperation via a kinematically matched handheld controller. The robots design and control architecture enable multiple locomotion modes screwing, wheeling, and sidewinding with smooth transitions between them. Extensive experiments validate its underwater maneuverability, communication robustness, and force regulated actuation. These capabilities position ARCSnake V2 as a versatile platform for exploration, search and rescue, and environmental monitoring in multi domain settings.

Figures (9)

• Figure 1: ARCSnake is a water-sealed, amphibious, screw-propelled, snake-inspired robot for traversing multi-domain environments. It is equipped with a buoyancy control system for underwater stability.
• Figure 2: The images above showcases the screw mechanism. The gear system is shown in green. The left image shows the belt drive which starts with a inner gear mounted to the motor, extending to a pulley connected to the outer gear. As shown in the right image, the outer gear is connected to the screw block's ring gear and meshes with the screwshell, causing the screwshell to rotate with the motor.
• Figure 3: The U-joint connects screw segments. They are controlled by the U-Joint motor which rotates the input pulley (A.), causing the rope to coil, twisting the output pulley (B.) and changing the angle between the segments. Because of their simple mechanical design, high load rating, and low backlash, timing belts with tension idlers are used for transmission.
• Figure 4: A torus-shaped bladder is placed around each of the U-Joints with a pressure line attached. This buoyancy system allows for underwater maneuverability and depth control.
• Figure 5: ARCSnake on various types of land media. From left to right is grass, concrete, mulch, and gravel. ARCSnake is designed to be a multi-domain system.