In this paper, we introduce a novel locomotion mode (gait) for 2D snake robots. The idea behind this new gait is to control orientation of snake robot by head link and use other links as a means of driving the robot. When snake robot moves using...

In this paper, we introduce a novel locomotion mode (gait) for 2D snake robots. The idea behind this new gait is to control orientation of snake robot by head link and use other links as a means of driving the robot. When snake robot moves using...

In this paper, dynamic equation of n-link snake robot is derived using Lagrange s

method for two friction model: simple viscous and coulomb. A simplified form for the

final dynamic equation in matrix format is presented.In order...

In this paper, for the first time, kinematics

modelling of snake robot travelling with concertina locomotion

is presented. Next a novel kinematics modelling method is

presented which has an advantage of allowing natural snake...

In this paper, for the first time, kinematics modelling of snake robot travelling with concertina locomotion is presented. Next a novel kinematics modelling method is presented which has an advantage of allowing natural snake like locomotion. During...

, optimization of a controller for a snake robot locomotion based on CPG-network is presented. CPGs are modeled as nonlinear oscillators for each joint. The inter-joint coordination is achieved by altering the connection weights between joints. Genetic algorithm...

One of the main advantages of snake-like robot over wheeled vehicles is its capability to move with different modes of locomotion, also called gaits. Because of inherent power inefficiency of snake robots, finding parameters that allow efficient...

In this paper, kinematics and dynamics of traveling wave locomotion of a snake robot with two types of body shapes are

developed. The body shape, also called body curve, is the actual geometrical shape in the plane in which the robot can...

In this paper, performance of a 16 link snake robot

in serpentine locomotion is investigated. Key kinematics and

dynamics parameters are identified. The aim of this paper is to

minimize average power consumption per unit...

In this paper, we present a novel gait, forward

head serpentine (FHS), for a two dimensional snake robot.

The advantage of this new gait is that the head link remains

in the forward direction during motion. This feature...