Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation

Abstract

Dynamic models are necessary when dealing with robotic applications where requirements of dexterity, manipulability, payload and compliance have to be satisfied at the same time. This work considers a particular design of tendon-actuated snake-like robots in which links are not coupled through mechanical joints but are free to roll between each other under the effect of cable tension forces. The state of the art in modeling these tendon-actuated rolling-joints systems is limited to kinematic and quasi-static models. In order to simultaneously guarantee modeling accuracy and suitability for model-based control, the Newton-Euler (NE) formulation has been adopted, by taking into account the forces and moments generated by cable tensions, links interactions, inertias, and friction between the rolling surfaces.