An Inchworm Locomotion Gait Based on Serpenoid Curve for Snakelike Robot

摘要

An inchworm locomotion gait model based on serpenoid curve was presented.The motion functions of angles between two adjacent links on the traveling curve were built.Then two efficiency criterions of the gait were given.Finally three parameters of the criterions that affecting the efficiency of the gait(the number of links that form the traveling wave,n;included angle between two adjacent links,α;and the phase difference of adjacent included angles,β) were discussed by simulations and experiments.