A squeezing control for snake-like robots to climb up trees

Abstract

The purpose of this study is to realize a control method of snake-like robots in order to climb up trees. The control method is able to divide into locomotion controls on a tree trunk and staying controls to avoid falling off. This paper shows the force for squeezing a tree trunk to avoid falling off is calculated by the relationship between the actuator torque and the friction force at each link which can be derived according to Projection Method. The effectiveness of the proposed method is verified by a numerical simulation.