Robotic snakes

摘要

The paper deals with snake-like robots. There are several types of snake-like locomotions. Biological example - snake always select the best type of locomotion in accordance with terrain. Big manoeuvrability leads many teams to develop snake-like robots. These structures have many degrees of freedom and it is complicated to control them. Articulated bodies of these snake-like robots consist of segments. The paper deals with segment with one and two degree of freedom.