Motion simulation of a tensegrity snake-like robot based on the serpenoid curve

Abstract

Abstract Due to their good motion performance, snake-like robots have been widely studied and researched for years and still have a lot of research interest. In this paper, we propose a snake-like robot based on tensegrity structure. Our snake-like robot is driven with cables on both sides, which is different from the serial structure snake-like robots driving by the motor at the axis of rotation. In order to verify the feasibility of the snake-like robot motion, we studied its inverse kinematics and performed simulation based on the serpenoid curve.