Locomotion of 3D Snake-Like Robots – Shifting and Rolling Control of Active Cord Mechanism ACM-R3 –

Abstract

We discuss basic control strategies of a three-dimensional snake-like robot. Introduced strategies are composed of shifting and rolling, and their super-imposing control. This paper clarified the generation of control commands for these movements and verified the feasibility of our proposal in experiments using the three-dimensional snake-like robot “ACM-R3”.