Wave-Likelocomotion of a Snake Robot: Mathematical Modelling and SimulationJournal: International Journal of Mechanical and Production Engineering Research and Development (IJMPERD ) (Vol.7, No. 6)
Publication Date: 2018-12-31
Authors : Himanth. M Bharath. L. V; Didymus. T. M;
Page : 285-296
Keywords : Serpenoid Curve; Biomimetic; Snake Robot & Wave-like Locomotion;
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.
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