Skip to main content
SpringerLink
Log in

Modelling of Snake-Like Locomotions

  • Conference paper
Modeling, Simulation and Optimization of Complex Processes

Summary

Multibody mechanical systems consisting of several links are considered which can perform snake-like locomotions along a horizontal plane in the presence of dry friction between the system and the plane. It is shown that, under certain conditions, these systems can perform longitudinal motions in the plane. Periodic motions are designed and analyzed. For mechanisms with two or three links, these periodic motions consist of slow and fast phases. For multilink mechanisms with more than four links, slow wavelike motions are possible. Displacements, the average speed, and the required control torques are evaluated. Theoretical results are confirmed by the computer simulation of the nonlinear dynamics of the multilink systems as well as by the experimental data.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Lavrentyev, M. A. and Lavrentyev, M.M. On one principle of creating the thrust force in motion. Journal of Applied Mechanics and Technical Physics (4), 6–9 (1962)

    Google Scholar 

  2. Gray, J. Animal Locomotion. Weidenfeld & Nicolson, London (1968)

    Google Scholar 

  3. Dobrolyubov, A. I. Travelling Waves of Deformation. Nauka i Tekhnika, Minsk (1987)

    Google Scholar 

  4. Bayraktaroglu, Z. Y., Butel, F., Pasqui, V., and Blazevic, P. A geometrical approach to the trajectory planning of a snake-like robot. In: G. C. Virk, M. Randall, and D. Howard (eds.), Proceedings of the Second International Conference on Climbing and Walking Robots CLAWAR 1999, Portsmouth, pp. 851–856 (1999)

    Google Scholar 

  5. Bayraktaroglu, Z, Y. and Blazevic, P. Snake-like locomotion with a minimal mechanism. In: M. Armada and P. Gonzalez de Santos (eds.), Proceedings of the Third International Conference on Climbing and Walking Robots CLAWAR 2000, Madrid, pp. 201–207 (2000)

    Google Scholar 

  6. Hirose, S. and Morishima, A. Design and control of a mobile robot with an articulated body. International Journal of Robotics Research 9(2), 99–114 (1990)

    Google Scholar 

  7. Hirose, S. Biologically Inspired Robots: Snake-like Locomotors and Manipulators. Oxford University Press, Oxford (1993)

    Google Scholar 

  8. Chirikjan, G. S. and Burdick, J. W. Kinematics of hyper-redundant robot locomotion with applications to grasping. In: Proceedings of the IEEE International Conference on Robotics and Automation 1, Sacramento, pp. 720–725 (1991)

    Google Scholar 

  9. Burdick, J. W., Radford, J., and Chirikjan, G. S. A 'sidewinding’ locomotion gait for hyper-redundant robots. In: Proceedings of the IEEE International Conference on Robotics and Automation 3, Atlanta, pp. 101–106 (1993)

    Google Scholar 

  10. Ostrowski, J. and Burdick, J. Gait kinematics for a serpentine robot. In Proceedings of the IEEE International Conference on Robotics and Automation 2, Minneapolis, pp. 1294–1300 (1996)

    Google Scholar 

  11. Chernousko, F. L. The motion of a multilink system along a horizontal plane. Journal of Applied Mathematics and Mechanics 64(1), 5–15 (2000)

    Article  MATH  MathSciNet  Google Scholar 

  12. Chernousko, F. L. The wavelike motion of a multilink system on a horizontal plane. Journal of Applied Mathematics and Mechanics 64(4), 497–508 (2000)

    Article  MATH  MathSciNet  Google Scholar 

  13. Chernousko, F. L. On the motion of a three-member linkage along a plane. Journal of Applied Mathematics and Mechanics 65(1), 13–18 (2001)

    Article  MATH  MathSciNet  Google Scholar 

  14. Chernousko, F. L. Controllable motions of a two-link mechanism along a horizontal plane. Journal of Applied Mathematics and Mechanics 65(4), 565–577 (2001)

    Article  MATH  MathSciNet  Google Scholar 

  15. Chernousko, F. L. Snake-like locomotions of multilink mechanisms. Journal of Vibration and Control 9, 235–256 (2003)

    Article  MATH  MathSciNet  Google Scholar 

  16. Chernousko, F. L. Simulation and optimization of crawling robots. In this volume

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute for Problems in Mechanics of the Russian Academy of Sciences, pr. Vernadskogo 101-1, Moscow, 119526, Russia

    Felix L. Chernousko

Authors
  1. Felix L. Chernousko
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Interdisziplinäres Zentrum für Wissenschaftliches Rechnen (IWR), Universität Heidelberg, Im Neuenheimer Feld 368, 69120, Heidelberg, Germany

    Hans Georg Bock  & Ekaterina Kostina  & 

  2. Institute of Mathematics, Vietnamese Academy of Science and Technology (VAST), 18 Hoang Quoc Viet Road, 10307, Hanoi, Vietnam

    Hoang Xuan Phu

  3. Institut für Angewandte Mathematik, Universität Heidelberg, Im Neuenheimer Feld 294, 68120, Heidelberg, Germany

    Rolf Rannacher

Rights and permissions

Reprints and permissions

Copyright information

© 2005 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Chernousko, F.L. (2005). Modelling of Snake-Like Locomotions. In: Bock, H.G., Phu, H.X., Kostina, E., Rannacher, R. (eds) Modeling, Simulation and Optimization of Complex Processes. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-27170-8_8

Download citation

Publish with us

Policies and ethics

Search

Navigation