S-shaped rolling gait designed using curve transformations of a snake robot for climbing on a bifurcated pipe
Jingwen Lu,
Chaoquan Tang,
Eryi Hu
et al.
Abstract:In this work, we focus on overcoming the challenge of a snake robot climbing on the outside of a bifurcated pipe. Inspired by the climbing postures of biological snakes, we propose an S-shaped rolling gait designed using curve transformations. For this gait, the snake robot’s body presenting an S-shaped curve is wrapped mainly around one side of the pipe, which leaves space for the fork of the pipe. To overcome the difficulty in constructing and clarifying the S-shaped curve, we present a method for establishi… Show more
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