Locomotion control and gaits’ modality of a 3D snake-like robot

摘要

This paper describes our work on the studies of the locomotion of a 3D snake-like robot, which has been developed by our laboratory for special usage. In this paper, we first describe the mechanical design of the robot and its control system, then we give the basic formulas for the robotpsilas 2D and 3D locomotion, which are based on serpenoid curve. While having realized 2D locomotion of serpentine and concertina, many 3D motion gaits were obtained and the 3D motions of the snake-like robot were generated by changing the parameters of the 3D locomotion formula. Moreover, the performance variances under different control formulas were observed for each gait. These results help to better control the snake-like robotspsila locomotion.