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.

翻译：在洞穴、海洋和行星表面等极端环境中的机器人探索面临重大挑战，尤其是在多样化地形中的移动能力方面。传统的轮式或足式机器人常因地表变化性而难以适应这些场景。本文提出ARCSnake V2，一种水陆两栖、螺旋推进的蛇形机器人，专为陆地、颗粒介质和水生环境中的遥操作或自主移动而设计。ARCSnake V2结合了高冗余度蛇形机器人的高机动性与阿基米德螺旋推进的地形适应性。主要贡献包括采用串联式螺旋与关节驱动的防水机械设计、集成浮力控制系统，以及通过运动学匹配手持控制器实现的遥操作。该机器人的设计与控制架构支持多种运动模式——螺旋推进、轮式滚动与侧向蜿蜒，并能实现模式间的平滑切换。大量实验验证了其水下机动性、通信鲁棒性与力控驱动性能。这些能力使ARCSnake V2成为适用于多域环境中勘探、搜救与环境监测的通用平台。