Wave-Likelocomotion of a Snake Robot: Mathematical Modelling and Simulation
Journal Title: International Journal of Mechanical and Production Engineering Research and Development (IJMPERD ) - Year 2017, Vol 7, Issue 6
Abstract
As a high redundancy system with high adaptability and stability, rescue robot is widely employed in collapsed buildings for rescue and search work. The work presented here introduces the wave-like locomotion of the snake robot using the modified serpenoid curve for the optimal motion. A systemic complete description of kinematics and dynamics of a snake robot are presented. VREP (virtual Robotic Experimental Platform) is used for simulation to validate the mathematical models and obtained joint torques of the snake robot during the wave-like locomotion.
Authors and Affiliations
Himanth. M, Bharath. L. V, Didymus. T. M
Keywords
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