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Experimental investigation of fundamental properties of snake robot locomotion

Abstract

This paper derives and experimentally investigates fundamental properties of the velocity of a snake robot conducting lateral undulation. In particular, the derived properties state that the average forward velocity of the snake robot 1) is proportional to the squared amplitude of the sinusoidal motion of each joint of the robot, 2) is proportional to the angular frequency of the sinusoidal motion of each joint, 3) is proportional to a particular function of the constant phase shift between the joints, and 4) is maximized by the phase shift between the joints that also maximizes the particular phase shift function. The paper presents an experimental investigation of the validity of these derived properties by measuring the forward velocity of a physical snake robot during lateral undulation. The experimental results support the theoretical findings.
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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 / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010)

ISBN

9781424478149

Page(s)

187 - 194

View this publication at Norwegian Research Information Repository