Abstract
This research focuses on simulation of a new snake-like robot. Most of the snake-like robots developed until now are based on the lateral undulation mode of locomotion. Nevertheless, it seems difficult to apply this mode of locomotion in realistic conditions such as non-planar and complex grounds, since most of these robots use wheels. As a result the rectilinear mode of locomotion is used for this snake-like robotic structure. After introducing the biological standpoint and locomotion principles of the robot, the simulation environment is presented. Simulations of a five module version of the snake-like robot performing a simple trajectory tracking with a constant rectilinear propulsive component are shown. Simulation results of two direction control methods are presented. The paper is concluded based on the results and future research prospects are introduced.
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© 2006 Springer-Verlag Berlin Heidelberg
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Aubin, R., Blazevic, P., Guyvarch, J.P. (2006). Simulation of a Novel Snake-Like Robot. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_105
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DOI: https://doi.org/10.1007/3-540-26415-9_105
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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