Modular Pneumatic Snakerobot: 3D Modelling, Implementation and Control

Abstract

This paper gives a treatment of various aspects related to snake locomotion. A mathematical model and a physical implementation of a modular snake robot are presented. A control strategy is also developed, yielding a general expression for different gait patterns. Two forms of locomotion have been simulated with the mathematical model, and experiments with the physical snake robot have been conducted. The simulation results revealed the parameter through which directional control may be achieved for each gait pattern. Experiments with the physical snake robot gave a crude qualitative verification of these findings. Keywords: Mathematical model, kinematics, dynamics, control algorithm, simulation, actuators, mobile robot, movement.