[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"detail-sidebar-cat-0-en-105":3,"doc-seo-153627-105":59,"doc-detail-153627-en":130},{"code":4,"msg":5,"data":6},0,"success",[7,13,18,23,28,33,38,43,48,51,55],{"id":8,"doc_module":4,"doc_module_name":9,"category_name":10,"show_sort_weight":11,"slug":12},1,"Document","Story & Novel",90,"story-novel",{"id":14,"doc_module":4,"doc_module_name":9,"category_name":15,"show_sort_weight":16,"slug":17},2,"Literature",80,"literature",{"id":19,"doc_module":4,"doc_module_name":9,"category_name":20,"show_sort_weight":21,"slug":22},4,"Exam",70,"exam",{"id":24,"doc_module":4,"doc_module_name":9,"category_name":25,"show_sort_weight":26,"slug":27},5,"Comic",60,"comic",{"id":29,"doc_module":4,"doc_module_name":9,"category_name":30,"show_sort_weight":31,"slug":32},6,"Technology",50,"technology",{"id":34,"doc_module":4,"doc_module_name":9,"category_name":35,"show_sort_weight":36,"slug":37},7,"Healthcare",40,"healthcare",{"id":39,"doc_module":4,"doc_module_name":9,"category_name":40,"show_sort_weight":41,"slug":42},8,"Research & Report",30,"research-report",{"id":44,"doc_module":4,"doc_module_name":9,"category_name":45,"show_sort_weight":46,"slug":47},9,"Religion & Spirituality",20,"religion-spirituality",{"id":46,"doc_module":4,"doc_module_name":9,"category_name":49,"show_sort_weight":46,"slug":50},"World Cup","world-cup",{"id":52,"doc_module":4,"doc_module_name":9,"category_name":53,"show_sort_weight":52,"slug":54},10,"Lifestyle","lifestyle",{"id":56,"doc_module":4,"doc_module_name":9,"category_name":57,"show_sort_weight":24,"slug":58},19,"General","general",{"code":4,"msg":60,"data":61},"ok",{"site_id":62,"language":63,"slug":64,"title":65,"keywords":66,"description":67,"schema_data":68,"social_meta":123,"head_meta":125,"extra_data":127,"updated_unix":129},105,"en","rebis-reconfigurable-bipedal-snake-robot-design-and-gaits","ReBiS – Reconfigurable Bipedal Snake Robot - Design and Gaits","","ReBiS (Reconfigurable Bipedal Snake) introduces a modular robot mechanism that switches between snake-like and bipedal walking motions through fast reconfiguration. The work presents the robot’s design and the implemented gaits, organized into three categories: snake gaits, transforming gaits, and walking gaits. Example gaits from each category are demonstrated, and experimental verification shows swift reconfiguration without rearranging modules, enabling versatile locomotion for challenging environments.",{"@graph":69,"@context":122},[70,84,105],{"@type":71,"itemListElement":72},"BreadcrumbList",[73,77,79,82],{"item":74,"name":75,"@type":76,"position":8},"https://docshare.wps.com","Home","ListItem",{"item":78,"name":9,"@type":76,"position":14},"https://docshare.wps.com/document/",{"item":80,"name":40,"@type":76,"position":81},"https://docshare.wps.com/document/research-report/",3,{"item":83,"name":65,"@type":76,"position":19},"https://docshare.wps.com/document/rebis-reconfigurable-bipedal-snake-robot-design-and-gaits/153627/",{"url":83,"name":65,"@type":85,"image":86,"author":91,"headline":65,"publisher":94,"fileFormat":97,"inLanguage":63,"description":67,"dateModified":98,"datePublished":99,"encodingFormat":97,"isAccessibleForFree":100,"interactionStatistic":101},"DigitalDocument",{"url":87,"@type":88,"width":89,"height":90},"https://docshare.wps.com/thumbnails/rebis-reconfigurable-bipedal-snake-robot-design-and-gaits/153627.png","ImageObject",300,407,{"name":92,"@type":93},"Rowan","Person",{"url":74,"name":95,"@type":96},"DocShare","Organization","application/pdf","2026-10-31","2026-08-28",true,{"@type":102,"interactionType":103,"userInteractionCount":34},"InteractionCounter",{"@type":104},"ViewAction",{"@type":106,"mainEntity":107},"FAQPage",[108,114,118],{"name":109,"@type":110,"acceptedAnswer":111},"What is ReBiS and what motion modes does it support?","Question",{"text":112,"@type":113},"ReBiS is a reconfigurable modular robot that can switch between snake-like motion and bipedal walking configurations.","Answer",{"name":115,"@type":110,"acceptedAnswer":116},"How are the robot’s gaits organized in the paper?",{"text":117,"@type":113},"The paper divides possible gaits into three categories: snake gaits, transforming gaits, and walking gaits.",{"name":119,"@type":110,"acceptedAnswer":120},"What is the main design objective for ReBiS’s transformation?",{"text":121,"@type":113},"The objective is to transform from a snake configuration to a walking configuration without detaching or attaching modules, avoiding extra docking/undocking mechanisms.","https://schema.org",{"og:url":83,"og:type":124,"og:title":65,"og:site_name":95,"og:description":67},"article",{"robots":126,"canonical":83},"index,follow",{"doc_id":128,"site_id":62},153627,1791140960,{"code":4,"msg":5,"data":131},{"doc_id":128,"user_id":132,"nickname":92,"user_avatar":133,"doc_module":4,"category_id":39,"category_name":40,"doc_title":65,"doc_description":67,"doc_content":134,"file_id":135,"file_url":136,"file_type":137,"file_size":138,"view_count":34,"is_deleted":4,"is_public":8,"is_downloadable":8,"audit_status":8,"page_count":29,"language":139,"language_code":63,"site_id":62,"html_lang":63,"table_of_contents":140,"faqs":141,"seo_title":142,"seo_description":67,"update_tm":143,"read_time":144,"preview_page_count":4},1099514067415,"https://ap-avatar.wpscdn.com/avatar/100002539d78ffe74a7?x-image-process=image/resize,m_fixed,w_180,h_180&k=1779092875211072502","2014 IEEE/RSJ International Conference on  \nIntelligent Robots and Systems (IROS 2014)  \nSeptember 14-18, 2014, Chicago, IL, USA  \nReBiS – Reconfigurable Bipedal Snake Robot  \nRohan Thakker, Ajinkya Kamat, Sachin Bharambe, Shital Chiddarwar, and K. M. Bhurchandi  \nAbstract—Robots capable of switching between snake-like and bipedal motion have advantages of greater manoeuvrability. This paper introduces ReBiS (Reconfigurable Bipedal Snake) robot, a novel modular design mechanism which can quickly transform between various configurations without rearrangement of modules. This paper documents the design as well as the gaits implemented on ReBiS. Possible gaits are divided into three categories; snake gaits, transforming gaitsand walking gaits. An example gait, belonging each of the three categories, is implemented and presented here. Experimental verification demonstrated that the reconfiguration of this robot is swift and without reshuffling of modules.  \nI. INTRODUCTION  \nChoosing a locomotion strategy is critical in developing mobile robots. Wheeled locomotion is good for flat terrains but not suitable for rough terrains or stair climbing. Serpentine motion is one of the common alternatives to wheeled locomotion. Snake robots are versatile; are able to navigate rough terrains, move underwater and climb stairs. However, the absence of wheels translates to difficulties in obtaining odometric estimations. In snake robots, deadreckoning is noisy and inaccurate. Further, there is lack of an intuitive reference frame to describe the motion of the robot with respect to the world. Hence, autonomous path planning is difficult. Another option to wheeled locomotion is walking robots. The advantage of legged motion is that the leg in contact with the ground can be used as a reference frame. However, these lack the stability, flexibility and speed of snake robots. Reconfigurable robots are capable of hybrid locomotion and have the ability to transform into different configurations. These robots are capable of self-assembly and self-reconfiguration. This makes the robot easy to adapt to different or changing environments.  \nThere are several groups who have designed and constructed snake robots. These designs are included in the survey [1] . Some of the noteworthy designs included are: ModSnake [2] by CMU, PolyBot [3] by PARC, ACM-R5 [4] by Hirose. These systems mimic snake-like motion by bending their bodies while maintaining some contact with ground. ACM-R5 is based on passive wheel to resist lateral motion. Another research work [5] proposes a reference frame called virtual chassis to describe snake motion in terms of world frame. DARwIn-OP [6] and Aldebaran Nao[7] are some of the popular kid-sized walking robots. Survey [8] classifies various reconfigurable systems into chain, lattice, and mobile. ATRON [9], MTRAN III [10] and Superbot [11] are hybrid chain-lattice systems. An immanent  \nThis work was supported by Visvesvaraya National Institute of Technology (VNIT), Nagpur, India.  \nAll authors are with VNIT, Nagpur, India; (email: [whizkidrohan@gmail.com](whizkidrohan@gmail.com), [kamat.ajinkya@gmail.com](kamat.ajinkya@gmail.com),  \n[sachinbharambe1992@gmail.com](sachinbharambe1992@gmail.com))  \nfeature of all these robots is that modules can attach and detach from other modules by using permanent magnets, electromagnets or retractable mechanisms.  \nThis paper presents a novel reconfigurable robot, ReBiS (Reconfigurable Bipedal Snake) . ReBiS is capable of both serpentine as well as legged motion. The ability to transform between snake and multiple walking configurations means that ReBiS has a multitude of locomotion strategies. Presence of a body frame and dead-reckoning makes the walking configuration of ReBiS more suitable for implementing path planning and SLAM algorithms [12] [13] as compared to snake robots. In snake configuration, ReBiSis ideal for navigating rough and uneven terrains, sneak through crevices and holes. ReBiS ca","cbCaifo9LNnn6zFq","https://ap.wps.com/l/cbCaifo9LNnn6zFq","pdf",584865,"English","# Abstract\n# Introduction\n# Robot Design\n## Mechanical Design","[{\"question\":\"What is ReBiS and what motion modes does it support?\",\"answer\":\"ReBiS is a reconfigurable modular robot that can switch between snake-like motion and bipedal walking configurations.\"},{\"question\":\"How are the robot’s gaits organized in the paper?\",\"answer\":\"The paper divides possible gaits into three categories: snake gaits, transforming gaits, and walking gaits.\"},{\"question\":\"What is the main design objective for ReBiS’s transformation?\",\"answer\":\"The objective is to transform from a snake configuration to a walking configuration without detaching or attaching modules, avoiding extra docking/undocking mechanisms.\"}]","ReBiS – Reconfigurable Bipedal Snake Robot - Design and Gaits | PDF",1787879254,15]