Implementation of Motion Algorithm on a Snake Robot Prototype for Serpentine Locomotion

摘要

Snake robots are considered one of the bioinspired robots that have unique capabilities of moving over uneven surfaces and maneuver through narrow passages due to the flexible body of the robots. Studies on the snake robots in the literature covered many aspects such as modelling, analysis, locomotion and control. However, there is a lack in the studies on the implementation of the snake robot locomotion. This paper presents the implementation of motion algorithm on a prototype of a snake robot that can make the robot move in serpentine locomotion over uneven surface. The experimental results validated the motion algorithm in terms of smooth serpentine locomotion and ability of forward and backward movement, besides the ability to turn right and left with a specific angle.