This study describes a method for applying an extended Kalman filter to a snake robot, which moves through a pipe using a helicoidal rolling motion. The filter estimates the helix radius, amount of twisting, and helix pitch to adapt to changes in the diameter inside the pipe. Additionally, offset values are added to these estimated values to propel the snake robot along the pipe autonomously. In particular, we experimentally demonstrated the effect of helix pitch on friction force and proposed a parameter-setting strategy that accounts for the range of motion of the joints. Finally, we validated the results of the proposed method through experiments on an actual robot.

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