Passivity control of underactuated snake-like robots

This paper presents a passivity control for snake-like robot systems. The bionic robot and underactuated robot have been put into practice. The paper mainly studies the snake robot that is close to a real snake by using biological modeling. The dynamic model in this paper has been built with the passivity controller technique. Lyapunovpsilas stability theory is applied to prove the stability of the proposed controller. Simulations are conducted to verify the effectiveness of the controller.