Research on Motion Planning of Snake-Like Robot Based on the Interpolation Function

Abstract

In this paper, we assemble an 8-joint snake-like robot with steering gears based on the truss structure model. And we have a trajectory simulation of each joint, which the Snake-like robot moves from the original gait to target gait in the matlab/robotics toolbox. According to the simulation result, we put forward polynomial interpolation function to plan the joint trajectory of snake robot. The results indicate the effectiveness of interpolation in motion planning and well solve motion incoherent problem of the snake robot.