WAVE-LIKE LOCOMOTION OF A SNAKE ROBOT: MATHEMATICAL MODELLING AND SIMULATION

摘要

As a high redundancy system with high adaptability and stability, rescue robot is widely employed in collapsed buildings for rescue and search work. The work presented here introduces the wave-like locomotion of the snake robot using the modified serpenoid curve for the optimal motion. A systemic complete description of kinematics and dynamics of a snake robot are presented. VREP (virtual Robotic Experimental Platform) is used for simulation to validate the mathematical models and obtained joint torques of the snake robot during the wave-like locomotion.