Investigation of serpentine gait of a snake robot with a wireless camera

Abstract

In this article, the serpentine gait of a snake robot with a camera at its head is simulated and the stability of the camera view is investigated. It is found that the camera view stability is low due to the large swinging amplitude of the snake robot head during locomotion. In order to improve the view stability, an optimization approach is proposed to modify the relative angle between the snake robot head and its body. Finally, a snake robot with wireless camera is implemented to verify the effectiveness of the proposed approach.