Serpentine locomotion of a snake-like robot controlled by musical theory

摘要

Based on the structure of both biological snakes and snake-like robots and their rhythmic locomotion, the musical theory is adopted as a control method to study on a snake-like robot. The relation between the rules and symbols of the musical theory and the control process of the snake-like robot is defined in this paper. Thus the data sequence of the relative angles in the serpentine locomotion is melodized. The gait score of the serpentine locomotion is utilized to control a snake-like robot named "Perambulator-I". Finally, the aspects of the future researches are discussed.