Design of the Tactile Sensing System for Snake Robot

To address the insufficient perception capability of snake robots in complex unstructured environments, a tactile sensing system based on piezoresistive thin-film pressure sensors is proposed. The system integrates a total of 64 sensors distributed across the snake robot's body to cover most of its surface. Each trunk module is equipped with four sensors, one mounted on each lateral surface, which enables comprehensive three-dimensional environmental interaction perception. A structure of thin-film pressure sensor suitable for surface pressure sensing of snake robots was designed. Systematic experimental validation confirmed the system's effectiveness in detecting static pressure distributions and dynamic contact signals, as well as its robust environmental adaptability, enabled by sensors with a measurement range of 0-6 N and high linearity. Through the addition of vision-independent redundant tactile perception capabilities to the snake robot, an innovative sensing solution is provided for autonomous obstacle avoidance and adaptive motion control in complex environments.