Understanding Snakelike Locomotion Through a Novel Push-Point Approach

Author:

Bayraktaroglu Zeki Y.1,Blazevic Pierre2

Affiliation:

1. Istanbul Technical University Faculty of Mechanical Engineering, System Dynamics&Control Department, Inonu Caddesi No.87 Gumussuyu 34439 Beyoglu Istanbul, Turkey:

2. Université de Versailles Saint Quentin-en-Yvelines, Laboratoire de Robotique de Versailles, 10-12 avenue de l’Europe 78140 Velizy-Villacoublay, France:

Abstract

Limbless locomotion reveals increasing interest among locomotion methods inspiring mobile robots. This paper deals with the lateral undulation, one type of terrestrial snakelike locomotion. It represents the first part of a research project based on a biologically inspired approach. The purpose, in this first place, is to cover the physical principles involved in lateral undulation. Following an overview of the lateral undulation as it occurs in nature, the authors consider a generic planar mechanism and a related environment that suit to satisfy the fundamental mechanical phenomenon observed in the locomotion of terrestrial snakes. Application of a relatively simple control law is tested through dynamic simulations. In the second place, the results of this introductory study are going to be used in the research of an appropriate technological solution for an artificial snake exerting lateral undulation. The approach presented differs from other works on the subject in the sense that it does not require any wheeled structure.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Reference26 articles.

1. Kinematics of Hyper-Redundant Robot Locomotion;Chirikjian;IEEE Trans. Rob. Autom.

2. Ostrowski, J. P. . 1995, “Geometric Perspectives on the Mechanics and Control of Undulatory Robotic Locomotion,” Ph.D. thesis, CalTech, Pasadena, CA.

3. Dowling, K. J. . 1997, “Limbless Locomotion: Learning to Crawl with a Snake Robot,” Ph.D. thesis, CMU, Pittsburgh, PA.

4. GMD-Snake 2: A Snake-Like Robot Driven by Wheels and a Method for Motion Control;Klaassen

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