Design and modelling of a snake robot in traveling wave locomotion

In this paper starting with the model, simulation and finishing with experiment, a systematic complete description of traveling wave locomotion is presented. The dynamic effects and a detailed model of the friction between the mechanism and the ground are described. And the relationship between the driving forces with the body shape and joint torques are established. The simulation results present the regularity of the joint torques during traveling wave locomotion. The effects of the initial winding angle and friction coefficient on the joint input torques are also depicted. The traveling wave locomotion was achieved in a snake robot. The experiments validated some simulation results and proved that the established kinematics and dynamics of snake robot are reasonable.