Locomotion Analysis of a Modular Underactuated Snake-like Robot

Abstract

The exploration of snake locomotion has significantly informed the field of robotics, especially in the development of robots capable of navigating complex terrains. While most robotic designs traditionally rely on the assumption of uniform force distribution for movement, the nuanced agility of snakes suggests a more selective application of force across specific joints. This paper introduces a novel underactuated snake-like robot, drawing inspiration from the adaptive locomotion strategies observed in desert snakes. We propose a modular design, incorporating joints with varying functionalities, to enhance the robot’s adaptability to diverse environmental challenges. Through simulation and experimentation on flat and inclined surfaces, we validate the effectiveness of this modular design in improving locomotive efficiency.