A snake robot for locomotion in a pipe using trapezium-like travelling wave

Abstract

Snake robots are a suitable solution for various types of applications, especially in rough terrain or hardly accessible areas such as, for example, pipes. This article deals with a snake robot moving in a pipe using a so-called trapezium-like travelling wave. In this paper, we present a mathematical model of locomotion of the snake robot in a pipe of rectangular cross-section. Subsequently, we designed a control algorithm using a trapezium-like travelling wave. Within the control algorithm we introduced the so-called motion matrix of a trapezium-like travelling wave that contains information about the vector of generalized variables at any point of the locomotion cycle. The paper also presents a simulation model in MATLAB R2019b interfacing with CoppeliaSim V4.0.0. Furthermore, in our research we have developed an experimental snake robot with the purpose to verify the derived mathematical model, control algorithm and simulation model. Experimental results show the influence of certain parameters of the trapezium-like travelling wave on locomotion properties, such as the travelled distance or the average speed of the snake robot passing through a pipe. In the final part of this paper, experimental results are discussed and key elements of the proposed control algorithm are highlighted.