Snake robot locomotion in a cluttered environment where the snake robot utilises a sensory-perceptual system to perceive the surrounding operational environment for means of propulsion is defined as perception-driven obstacle-aided locomotion (POAL). From a control point of view. achieving POAL with traditional rigidly-actuated robots is challenging because of the complex interaction ... https://www.chiggate.com/replica-beach-walk-candle-fashion/