DigiSnake - To Design and Develop Digitally Enhanced, Dexterous and {Teleoperated} Snake Robots.

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1 Understand the sources of errors then select and fuse multi-sensors for embedding closed loop control Understand the cause of the mismatch between the FBG sensors and the Ground truth, attempt to 'close the gap' of this mismatch by using sensor fusion. Look into other potential sensors which can be integrated into the snake robot.2. Static and Dynamics modelling of the Snake Robot Evaluate close loop algorithms in considering the static and dynamic operation of a snake robot3. Simulating the Robot Snake in a dynamic environment Using Coppelia to model the joints and behaviour to accurately reflect the motion of the robot snake4. Combining the multi-sensors and the simulation to build a VR environment for supporting teleoperation