Analysis of Creeping Locomotion of a Snake-like Robot on a Slope

The diverse locomotion modes and physiology of biological snakes make them supremely adapted for their environment. To model the noteworthy features of these snakes we have developed a snake-like robot that has no forward direction driving force. In order to enhance the ability of our robot to adapt...

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Bibliographic Details
Published in:Autonomous robots 2006-01, Vol.20 (1), p.15-23
Main Authors: Ma, Shugen, Tadokoro, Naoki
Format: Article
Language:English
Subjects:
Computer simulation
Locomotion
Robot dynamics
Robots
Snakes
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Summary:The diverse locomotion modes and physiology of biological snakes make them supremely adapted for their environment. To model the noteworthy features of these snakes we have developed a snake-like robot that has no forward direction driving force. In order to enhance the ability of our robot to adapt to the environment, in this study we investigate the creeping locomotion of a snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of the snake-like robot on a slope, and the environmentally-adaptable body shape for our robot is also derived through this simulator.
ISSN:0929-5593
1573-7527
DOI:10.1007/s10514-006-5204-6