ARCSnake V2: An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot

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.