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Analysis of Creeping Locomotion of a Snake-like Robot on a Slope

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Abstract

The diverse locomotion modes and physiology of biological snakes make them supremely adapted for their environment. To model the noteworthy features of these snakes we have developed a snake-like robot that has no forward direction driving force. In order to enhance the ability of our robot to adapt to the environment, in this study we investigate the creeping locomotion of a snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of the snake-like robot on a slope, and the environmentally-adaptable body shape for our robot is also derived through this simulator.

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Authors and Affiliations

  1. Robotics Laboratory, Shenyang Institute of Automation and Ritsumeikan University, CAS 114 Nanta Street, Shenyang, 110015, China

    Shugen Ma

  2. COE Research Institute, Ritsumeikan University, Noji Higashi 1-chome, 1-1 Kusatsu, 525-8577, Japan

    Shugen Ma

  3. Hitachi Koki Co., Ltd., COE Research Institute, Ritsumeikan University, Noji Higashi 1-chome, 1-1 Kusatsu, 525-8577, Japan

    Naoki Tadokoro

Authors
  1. Shugen Ma
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  2. Naoki Tadokoro
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Correspondence to Shugen Ma.

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Ma, S., Tadokoro, N. Analysis of Creeping Locomotion of a Snake-like Robot on a Slope. Auton Robot 20, 15–23 (2006). https://doi.org/10.1007/s10514-006-5204-6

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  • DOI: https://doi.org/10.1007/s10514-006-5204-6

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