Analysis of creeping locomotion of a snake-like robot
Snakes perform many kinds of movement adapted to the environment. Utilizing the snake (its forms and motion) as a model to develop a snake-like robot, that performs the snake's function, is important
for generating a new type of locomotion and expanding the possible uses of robots. In this study, we developed a simulator to simulate the creeping locomotion of the snake-like robot, in which the robot
dynamics is modeled and the interaction with the environment is considered through Coulomb friction. This simulator makes it possible to analyze creeping locomotion with normaldirection slip, adding to
the glide along the tangential direction. Through the developed simulator, we investigate the snake-like robot creeping locomotion which is generated only by swinging each of the joints from side to side
and discuss the optimal creeping locomotion of the snake-like robot that is adapted to the environment.
Keywords: CREEPING LOCOMOTION; ENVIRONMENT ADAPTATION; NORMAL-DIRECTION SLIP; SNAKE; SNAKE-LIKE ROBOT
Document Type: Research Article
Affiliations: Department of Systems Engineering, Ibaraki University, Faculty of Engineering, 4-12-1 Nakanarusawa, Hitachi 316-8511, Japan
Publication date: 01 June 2001
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