Modeling Friction for a Snake-Like Robot

Authors: Skonieczny, Krzysztof¹; D'Eleuterio, Gabriele M.T.¹

Source: Advanced Robotics, Volume 22, Number 5, 2008 , pp. 573-585(13)

Publisher: VSP, an imprint of Brill

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Abstract:

An elliptical model for anisotropic friction, taken from solid mechanics, is incorporated into the field of simulating and modeling snakes and snake-like robots for the first time. This model avoids the theoretical and empirical pitfalls the decoupled model previously used in the field encountered. Simulations show that the elliptical friction model better mimics qualitative aspects of snake and snakebot motion, i.e., motion smoothness and the tracing of the same path by all parts of the snake. Further, it is also shown that the elliptical model requires less computational effort than the decoupled model.

Keywords: SNAKE; ROBOT; SNAKEBOT; FRICTION; MODEL

Document Type: Short communication

DOI: 10.1163/156855308X294897

Affiliations: 1: University of Toronto Institute for Aerospace Studies, 4925 Dufferin Street, Toronto, Ontario, M3H 5T6 Canada

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