Influence of inclining angle of a slope to optimal locomotion curves of a snake-like robot

Abstract

Snakes perform many kinds of movement adapted to environments. Utilizing the snake as a model, we have developed a 2-dimensional snake-like robot that emulates a snakes' function. To make our robot move optimally while adapting to the slope environment, in this study we discussed the influence of the inclining angle of the slope to the creeping locomotion of the robot and derived its optimal creeping locomotion curves that adapted to the given slopes.