In this paper, we present a novel structure of a snake-like robot. This structure enables passive locomotion in snake-like robots. Dynamic equations are obtained for motion in a horizontal plane, using Gibbs-Appell method. Kinematic model of the robot include numerous nonholonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs-Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in considerable reduction of simulation time. Simulation results show that, by proper selection of initial conditions, joint angles operate in a limit cycle and robot can locomote steadily on a passive trajectory. It can be seen that the passive trajectory is approximately a Serpenoid curve. © 2007 Cambridge University Press.
CITATION STYLE
Vossoughi, G., Pendar, H., Heidari, Z., & Mohammadi, S. (2008). Assisted passive snake-like robots: Conception and dynamic modeling using Gibbs-Appell method. Robotica, 26(3), 267–276. https://doi.org/10.1017/S0263574707003864
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