Study on the motion control of snake-like robots on land and in water

摘要

In order to fully use the advantage of legless body and rhythmic gaits to realize the inspection task, the snake-like robots and dynamic simulators are developed with components available online and open source software. The Serpenoid Curve formula is adopted to generate the joint rhythm of snake-like robot to realize serpentine locomotion. The serpentine locomotion of snake-like robots on land and in water is studied in details with experiments. This work wishes to provide the technical solution for researchers from different institutes to show the performance of the designed algorithm comparing to the other works and for the practical applications of snake-like robots in the near future.