Dynamics Analysis on Serpentine Locomotion of a New Snake-like Robot

Abstract

In order to increase the capability of locomotion,a new snake-like robot is designed.The dynamics of the new snake-like robot is mainly studied in this paper.Firstly,the kinematic model is set up,then the composite control method is proposed based on this model.Finally,the Lagrange method is used to build the dynamic model of the snake-like robot.The characteristics of torque of each joint and the frictional force under different parameters are compared for the better locomotion of this snake-like robot.