Influence of the gradient of a slope on optimal locomotion curves of a snake-like robot

摘要

Abstract Snakes perform many kinds of movement adapted to different environments. Utilizing the snake as a model, we have developed a two-dimensional snake-like robot that emulates a snakes' function. To make our robot move optimally while adapting to the slope of the environment, in this study we discuss the influence of the gradient of a slope on the creeping locomotion of the robot and derive optimal creeping locomotion curves that adapted to the given slopes. Keywords: SNAKE-LIKE ROBOTCREEPING LOCOMOTIONSLOPE ADAPTATIONSYMMETRICAL CURVEUNSYMMETRICAL CURVE