# 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. - **Patent:** US 9409292 - **Original title:** Serpentine robotic crawler for performing dexterous operations - **Owner:** Sarcos LC - **Granted:** 2016 - **Status:** Active - **Times cited:** 27 - **Field:** robotics, mechanical, aerospace, energy, telecommunications, automotive ## What it does 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). ## 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. ## 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. ## Real-world examples 1. Robots for inspecting and repairing power plants 2. Robots for disarming explosives 3. Robots for infrastructure maintenance (e.g., bridges, pipelines) 4. Robots for hazardous waste cleanup 5. Sarcos Guardian S robot ## Why it matters 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. ## 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. **Full plain-English explainer:** https://patentbrief.org/patent/us/9409292/serpentine-robotic-crawler-for-performing-dexterous-operations **Original patent:** https://patents.google.com/patent/US9409292 --- _Source: PatentBrief — https://patentbrief.org. Patent facts are from public records; the plain-English explanation is PatentBrief's._ ## Related patents Semantically similar inventions in the PatentBrief corpus: - [How One Person Can Control Two Robots as a Team](https://patentbrief.org/patent/us/11794345/unified-robotic-vehicle-systems-and-methods-of-control) — This patent describes a system where a single operator can control two separate robots together as one unified machine, or switch to control them individually, using a master control system. - [How a Surgical Robot Arm's Wrist Moves Instruments](https://patentbrief.org/patent/us/12414825/surgical-arm) — This patent describes a specific design for the end part of a surgical robot arm, called the terminal portion, which uses a clever arrangement of three joints to precisely position and rotate surgical tools. - [Robots That Don't Get Stuck: A Master-Slave Control System](https://patentbrief.org/patent/us/9855653/master-slave-system) — This patent describes a robot control system where a human-operated 'master' robot guides a 'slave' robot, preventing either from getting into awkward, uncontrollable positions by carefully planning the master robot's movements. - [How Surgical Robots Reconfigure Their Arms Without Moving the Tool Tip](https://patentbrief.org/patent/us/9949801/systems-and-methods-for-commanded-reconfiguration-of-a-surgical-manipulator-usin) — This patent describes how a surgical robot arm can move and reshape itself to avoid obstacles or improve its position, all while keeping its surgical tool perfectly still at the patient's entry point or target. - [How a Robot Actuator Controls Force and Speed with Gears](https://patentbrief.org/patent/us/8209052/high-performance-differential-actuator-for-robotic-interaction-tasks) — This patent describes a compact robot actuator that uses a special gear system and two motors with different electrical resistance to precisely control both the force and speed applied to a robotic arm or tool.