Modelling and Simulation of a Wheel-Less Snake Robot

摘要

In this paper, kinematic and dynamic modelling of a wheel-less snake robot that has more potential for adapting to the environment is implemented in Matlab/Simulink and effect of friction between its body with the ground, which plays a highly important role in some snake locomotion such as lateral undulation on motion is analyzed. Moreover, the relationship between number of links of the snake robot and its forward velocity is investigated in this study. The simulation results validate that snake robot can move faster in environments where the anisotropy in friction is large enough. The results also show that the forward velocity of the snake robot is directly proportional to its number of links.