Research on the locomotion mechanism of snake-like robot

摘要

This paper presents a novel kind of a snake-like robot. The structure of the snake-like robot is discussed. The mathematical model of the snake-like robot is also proposed. This paper discusses carefully the locomotion mechanism of moving forward, moving backward and steering. The geometry analysis of the snake-like robot is analyzed. The control arithmetic based on the locomotion mechanism and the geometry analysis is also deduced. The snake-like robot can move forward and backward controlled by the arithmetic. The results of the simulation correspond with the results of the experiments very well. This kind of snake-like robot can take some micro sensors such as CCD camera, ultrasonic sensors and so on. Then it can complete some difficult tasks.