4 accepted papers
This paper contributes to the understanding of the fundamental properties of rectilinearly locomotion of an one-dimensional system travelling on the horizontal plane, where dry Coulomb friction acting between it and surface. We discuss an approximate steady-state motion on a simplified two-segment s…
Snakes and worms are capable of travelling along a straight line on a resistance medium using rectilinear locomotion. To apply this kind of gait in snake-inspired robots, some fundamental properties remain elusive. In this paper, we study the directional migration of a three-segment self-propelled s…
Snakes and worms are capable of travelling through tightly confined spaces on a resistance medium using rectilinear locomotion. To apply this kind of gait into snake-inspired robots, some fundamental properties remain elusive. In this paper, we present a n-segment kinematic model of the snake robot…
Snake robots are highly redundant robots that could potentially be used as robotic arms, allowing them to interact with the environment. However they do not have a fixed base, making them difficult to control accurately. In this paper, a complete modeling approach and an optimization algorithm are p…