Design and modelling of a snake robot in traveling wave locomotion

Design and Modeling of a Snake Robot Based on Worm-Like Locomotion

“…In other words, as joints get closer to the gravity center, the required maximum torque increases. This finding is similar to what is reported in the earlier literature [2] and the authors' earlier work [12].…”

“…In most robots, this body shape is usually mimicked by utilization of the serpenoid curve, introduced by Hirose [1]. For convenience, we use the serpenoid curve [2,3,7] as the basic body shape of the snake robot traveling with worm-like locomotion. The curvature function of serpenoid curve is defined as:…”

“…On the contrary, worms are thought of to usually move in the vertical plane orthogonal to the supporting plane. The most famous gaits used by snakes are lateral undulatory (serpentine), concertina, sidewinding and rectilinear locomotion [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19]. Depend-ing on the environment, snakes may also combine the basic gaits and create new locomotion modes.…”

“…He formulated the serpenoid curve and proved that a snake-like mechanism is able to generate a net forward thrust by applying the appropriate torque along the length of its body. Chen et al [2] presented a model for traveling wave locomotion, and considered its kinematics and dynamics. They considered the effects of the initial winding angle and friction coefficient on the joint torques during traveling wave locomotion.…”

Wave-Likelocomotion of a Snake Robot, Mathematical Modelling and Simulation

“…Chen et al [8]demonstrated a model for snake wave like locomotion and presented the kinematics and dynamics analysis. They were considered the effects of the friction coefficient and initial winding angle on the joint torques during the wave-like locomotion.…”