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A simplified model of planar snake robot locomotion

Abstract

This paper presents a model of the kinematics and dynamics of a planar, wheelless snake robot aimed at control design and stability analysis purposes. The proposed model is significantly less complex than existing models of planar snake robot locomotion. The paper presents an analysis of an existing complex snake robot model which reveals a set of essential properties that characterize the overall motion of a planar snake robot. The proposed model is developed to capture only these essential properties of snake locomotion, thereby significantly reducing the complexity compared to the original model used in the analysis. The paper presents simulation results that indicate that the qualitative behaviour of the proposed model and the original complex model are similar, and that a quantitative similarity is achieved with a proper choice of numerical values of the friction coefficients in the two models.
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Category

Academic chapter

Language

English

Author(s)

  • Pål Liljeback
  • Kristin Ytterstad Pettersen
  • Øyvind Stavdahl
  • Jan Tommy Gravdahl

Affiliation

  • SINTEF
  • Norwegian University of Science and Technology

Year

2010

Publisher

IEEE (Institute of Electrical and Electronics Engineers)

Book

Proceedings / IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010)

ISBN

9781424466757

Page(s)

2868 - 2875

View this publication at Norwegian Research Information Repository