Modular Pneumatic Snakerobot: 3D Modelling, Implementation and Control
Journal article, Peer reviewed
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Original versionIFAC papers online 2005 10.3182/20050703-6-CZ-1902.01274
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.
This is the authors accepted and refereed manuscript to the article.