Propulsion Control of 3D Snake Robot Based on Continuum Modelling

摘要

A snake like robot has attracted interests of many researchers for long time. However, a snake robot capable of 3D locomotion has not been developed due to the complexity of mathematical model and computational costs in the viewpoint of control. In this paper, we introduce a 3D continuum model for snake robot and derive the optimal bending force distribution. The simulation results shows that the snake robot can proceed on a complicated terrain by using the proposed control law.