Simulation and Determination of the Influence of the Gait Function on the Change of the Shape of a Snake-Like Robot

Abstract

This article discusses the application of the Hirose ́s function for the achievement of the serpentine locomotion of the snake-like robot. Verification of the accuracy of locomotion was performed by simulation in the MATLAB 2012a program. At the beginning of the article, the biological aspects and the principle of the snake’s locomotion are mentioned. In the following chapter, the basic Hirose ́s function, which is subsequently transformed into the discreet shape in the Cartesian coordinates, is described. Moreover, relations for the calculation of rotation angle of the individual segments, wrapping angle and other similar parameters have been obtained. At the end of the article, simulations have been performed within which the influence of changes of the individual parameters of the function on the change of the shape of the snake-like robot have been observed.