Reconstruction of Backbone Curves for Snake Robots

Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees freedom, which make them capable versatile three-dimensional locomotion. In motion planning process, snake robot motions are often designed kinematically by a chronological sequence continuous backbone curves that capture desired macroscopic shapes the robot. However, as geometric arrangement rotary creates constraints on rotations in robot, it is challenging for to reconstruct an arbitrary 3D curve. When configuration does not accurately achieve defined these curves, can unexpected contacts with environment, such motion. this work, we propose method posing optimization problem exploits robot's structure. We verified our enables fast accurate curve-configuration conversions through its applications commonly used gaits. also demonstrated via experiments 1) results smooth locomotion robot; 2) allows approach numerically predicted locomotive performance