Assisted passive snake-like robots: Conception and dynamic modeling using Gibbs-Appell method

  • Vossoughi G
  • Pendar H
  • Heidari Z
 et al. 
  • 12


    Mendeley users who have this article in their library.
  • 18


    Citations of this article.


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.

Author-supplied keywords

  • Dynamic modeling
  • Gibbs-Appell method
  • Passive motion
  • Serpenoid curve
  • Snake-like robot

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • Gholamreza Vossoughi

  • Hodjat Pendar

  • Zoya Heidari

  • Saman Mohammadi

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free