Minimization of actuators torque in snake robots reduces the energy consumption and shrinks the robot dimensions. In this paper a mathematical model for climbing concertina movement is developed. The formulation is then used to show how torque is optimized in concertina movement. The results show that the optimum occurs when self-locking takes place. Self-locking implies zero actuator torque at each joint.
Minimization of actuators torque in snake robots, reduces the energy consumption and the robot dimensions. In this paper a mathematical model for Concertina movement is developed. The formulation is then used to show how torque is optimized in this type of locomotion. The result of optimization was the self-locking property. If self-locking property occurs, zero actuator torque is needed to maintain the robot at a given position.
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