This paper presents multi-objective optimization for a snake robot with serpentine locomotion. Genetic algorithm (GA) is used to achieve two objectives: minimizing the total travelling time and energy consumption. The effect of initial values winding angle acceleration on consumption average speed depicted. simulation results show periodic pattern joint torques when maintains serpenoid curve du...

This article presents a project that aims at constructing a biologically inspired amphibious snake-like robot. The robot is designed to be capable of anguilliform swimming like the lamprey in water and serpentine locomotion like a snake on ground. Both the structure and the controller of the robot are inspired by elongate vertebrates. In particular, the locomotion of the robot is controlled by ...

This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...

This article presents AmphiBot II, an amphibious snake robot designed for both serpentine locomotion (crawling) and swimming. It is controlled by an on-board central pattern generator (CPG) inspired by those found in vertebrates. The CPG is modelled as a chain of coupled nonlinear oscillators, and is designed to produce travelling waves. Its parameters can be modified on the fly. We present the...

This paper considers the kinematics of hyperredundant (or “serpentine”) robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of “gaits.” The analysis and algorithms are based on a continuous backbone curve model which captures the robot’s macroscopic geometry. Two classes of gaits, based on stationary waves and traveling waves of mechanism deformation, are ...

For a mobile robot undergoing serpentine locomotion, an accurate dynamic model is a fundamental requirement for optimization, control, navigation, and learning algorithms. Such algorithms can be readily implemented for traditional rigid robots, but remain a challenge for nonlinear and low-bandwidth soft robotic systems. This article addresses the theoretical modeling of the dynamics of a pressu...

\follow" the lead of the three-segment kinematic system. By formulating the motion of the system in terms of a connection, we can clearly highlight the important factors which contribute to the serpentine locomotion. Using sinusoidal inputs which are phase-delayed down the length of the snake robot, we were able to simulate various possible gaits, including a serpentine gait characterized by ne...

Soft robotics offers the unique promise of creating inherently safe and adaptive systems. These systems bring man-made machines closer to the natural capabilities of biological systems. An important requirement to enable self-contained soft mobile robots is an on-board power source. In this paper, we present an approach to create a bio-inspired soft robotic snake that can undulate in a similar ...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

Problem statement: In snake robot research, one of the most efficient forms of locomotion is the lateral undulation. However, lateral undulation, also known as serpentine locomotion, is illsuited for narrow spaces, as the body of the snake must assume a certain amount of curvature to propel forward. Approach: To overcome the inability to adapt to narrow spaces, a novel type of a gait was introd...