Design and Development of Modular Snake Robot and Implementation of Locomotive Gaits

摘要

Snake Robots are one of the most versatile robots having multiple degrees of freedom which at the same time makes them complex to control. This paper presents the design and fabrication of modular snake robot, its electronic and software architecture, control and implementation of scripted locomotive gaits, and formulation of a novel gait particularly aimed at surveillance. this robot articulately mimics various cyclic gaits inherent to its biological counterpart as well as some contrived ones. [11]Each gait of the robot is obtained with sinusoidal oscillation which travels down the spine with various combinations of parameters: amplitude, frequency, phase, and offset.