Fengwei Sheng

A Maneuverable Winding Gait for Snake Robots Based on a Delay-Aware Swing and Grasp Framework Combining Rules and Learning Methods

Due to the high redundant degree of freedom characteristics of snake robots, their joint lever arms tend to be very long and often result in torque saturation, especially in the case of inter-tree motion. Traditional static planning methods based on curve segments connecting or wave functions are of