How a Snake Robot Uses Two Arms to Work Together
This patent describes a snake-like robot with at least two movable arms that work together to perform complex tasks, like inspecting pipes or lifting heavy objects.
Original patent title: “Serpentine robotic crawler for performing dexterous operations”
This patent describes a snake-like robot with at least two movable arms that work together to perform complex tasks, like inspecting pipes or lifting heavy objects. Granted to Sarcos LC in 2016 with 29 claims and 27 forward citations, and it is expected to expire in 2033.
Coverage
What does this patent actually cover?
The patent describes a "serpentine robotic crawler" (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1) made of at least two connected "frames" (Claim 1). These frames are joined by an "articulating linkage" (Claim 1), which acts like a flexible spine with joints. Each frame supports a "dexterous manipulator" (Claim 1), essentially a robotic arm with a "jointed member" and an "end effecter" (Claim 1), like a gripper or tool. The key is that these manipulators can move in at least two directions and perform "individual dexterous operations that are coordinated with one another" (Claim 1). For example, one arm might hold a heavy pipe (Claim 2, 3) while the other arm uses a tool to fix it, guided by an "optical sensor" (Claim 8) for precise, two-handed work. The robot can move using tracks or wheels (Claim 13).
The gap
What does this patent NOT cover?
- Robots with only one dexterous manipulator, as the claimsclaimsThe numbered statements at the end of a patent that legally define what the inventor owns.Read more → specifically require at least two manipulators.
- Robots where multiple manipulators operate independently without any coordination between their actions.
- Robots that are not designed with a flexible, multi-segment 'serpentine' body structure.
- Robots whose manipulators cannot exert a force greater than the robot's own weight, as specified in claimsclaimsThe numbered statements at the end of a patent that legally define what the inventor owns.Read more → 2 and 3.
- Robots where the manipulators are not capable of movement in at least two distinct degrees of freedom.
These exclusions are unique to PatentBrief — derived from the actual claim language, not patent-office boilerplate.
Key facts
What made this novel
The noveltynoveltyThe requirement that an invention be different from anything publicly known before its priority date.Read more → lies in combining a flexible, multi-segment "serpentine" body with multiple, highly capable robotic arms that can work together in a coordinated fashion, even performing "two-handed operations" (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 8) in tight spaces. This allows for complex manipulation from a mobile, adaptable platform.
The Patent Drawing
Schematic visualization of the patent's claim structure. Hand-drawn diagrams in progress for each landmark patent.
Where you've seen this
Real-world examples
Robots for inspecting and repairing power plants
Robots for disarming explosives
Robots for infrastructure maintenance (e.g., bridges, pipelines)
Robots for hazardous waste cleanup
Sarcos Guardian S robot
Why it matters
The bigger picture
This patent is significant for developing robots that can operate in confined or hazardous spaces, performing tasks that require more than one hand. Sarcos, the assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →, is known for advanced robotics, including powered exoskeletons and dexterous robots for industrial and defense applications. This technology enables robots to handle complex maintenance, inspection, and construction tasks in environments too dangerous or difficult for humans.
Filed
September 13, 2013
Granted
August 9, 2016
Market context
Who's building on this
Companies in this space
Sarcos Technology and Robotics Corporation, the original assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →, continues to develop advanced dexterous robots, including the Guardian S and Guardian XT, which embody principles of coordinated manipulation and serpentine mobility. Other companies in industrial and inspection robotics, such as Boston Dynamics and ANYbotics, also work on mobile robots with advanced manipulation capabilities, though their specific architectures may differ.
Market impact
This patent contributes to the development of highly capable mobile manipulation robots, expanding their use beyond structured factory environments. It enables robots to tackle complex tasks in unstructured, dangerous, or remote settings, reducing human risk and improving efficiency in industries like infrastructure inspection, defense, and disaster response. The focus on coordinated multi-arm operation allows for more sophisticated interaction with the environment.
Claim 1 — Plain English
What this patent covers
The patent describes a "serpentine robotic crawler" (Claim 1) made of at least two connected "frames" (Claim 1). These frames are joined by an "articulating linkage" (Claim 1), which acts like a flexible spine with joints. Each frame supports a "dexterous manipulator" (Claim 1), essentially a robotic arm with a "jointed member" and an "end effecter" (Claim 1), like a gripper or tool. The key is that these manipulators can move in at least two directions and perform "individual dexterous operations that are coordinated with one another" (Claim 1). For example, one arm might hold a heavy pipe (Claim 2, 3) while the other arm uses a tool to fix it, guided by an "optical sensor" (Claim 8) for precise, two-handed work. The robot can move using tracks or wheels (Claim 13).
The clever bit
The novelty lies in combining a flexible, multi-segment "serpentine" body with multiple, highly capable robotic arms that can work together in a coordinated fashion, even performing "two-handed operations" (Claim 8) in tight spaces. This allows for complex manipulation from a mobile, adaptable platform.
What it does not cover
- Robots with only one dexterous manipulator, as the claims specifically require at least two manipulators.
- Robots where multiple manipulators operate independently without any coordination between their actions.
- Robots that are not designed with a flexible, multi-segment 'serpentine' body structure.
- Robots whose manipulators cannot exert a force greater than the robot's own weight, as specified in claims 2 and 3.
- Robots where the manipulators are not capable of movement in at least two distinct degrees of freedom.
Patent timeline
Application submitted to the patent office
Application published, typically 18 months after filing
Patent officially issued
Patent enters public domain
PatentBrief Score
Impact Score
Moderate
Citation count
29/40
Moderately cited
Claim breadth
19/20
Very broad protection
Recency
5/20
Granted 10–20 years ago
Assignee scale
0/20
Independent or smaller assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →
PatentBrief Impact Score — based on citation count, claim breadth, recency, and assignee scale. Not a legal assessment.
Heuristic Value Estimate
What this patent might be worth
$132K – $421K
Midpoint $263K · 7.1 yr remaining · industry ×0.9
Heuristic only — blends forward/backward citation counts, claim scope, time remaining, litigation history, and CPC-derived industry baseline. Real valuations need a professional appraisal.
Claim text not yet imported for this patent
The original legal language
Original claims
29 claims as filed with the patent office.
Concepts involved
Citations
Patent lineage
Cite this patent
Olivier, M., Smith, F. M., & McCullough, J. (2016). How a Snake Robot Uses Two Arms to Work Together (U.S. Patent No. 9,409,292). U.S. Patent and Trademark Office. https://patentbrief.org/patent/us/9409292/serpentine-robotic-crawler-for-performing-dexterous-operations
Auto-generated from the patent record. Double-check author order and the issue date against the official USPTO document before submitting.
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Common Questions
Frequently Asked Questions
What does How a Snake Robot Uses Two Arms to Work Together cover?
This patent describes a snake-like robot with at least two movable arms that work together to perform complex tasks, like inspecting pipes or lifting heavy objects.
Who owns patent US 9409292?
Sarcos LC owns this patent, granted in 2016.
When does this patent expire?
This patent is expected to expire on September 13, 2033, when the invention enters the public domain.
What is patent US 9409292 cited by?
This patent has been cited by 27 later patents that build on its ideas.
What problem does this patent solve?
This patent is significant for developing robots that can operate in confined or hazardous spaces, performing tasks that require more than one hand. Sarcos, the assignee, is known for advanced robotics, including powered exoskeletons and dexterous robots for industrial and defense applications. This technology enables robots to handle complex maintenance, inspection, and construction tasks in environments too dangerous or difficult for humans.
What does this patent NOT cover?
Robots with only one dexterous manipulator, as the claims specifically require at least two manipulators.
Patent monitoring