The Process of Gait Generation for Snake-Like Robot with Nonholonomic Constraints

Abstract

The article deals with the issue of the use of geometric mechanics in mobile robotics. In the introductory part of article, basic notions are explained that frequently occurring in the concept of geometric mechanics including definition of the undulatory locomotion. It contains the determination of mathematical model for the kinematic snake-like robot that is expressed in the form of Jacobian. Further was described the relation between the body velocity and the shape variable by the reconstruction equation and from this equation was expressed the local connection. This local connection shown using the vector fields together with the gait were used to analyze movement of the kinematic snake. The last part deals with the height functions that determine the exact value of displacement or rotation in fiber directions.