A modified serpenoid equation for snake robots

This paper presents a modified set of serpenoid equations to navigate snake robots more efficiently. Serpentine gait is recognized as the most efficient gait for snakes in terms of energy, motor torques and friction forces. However, the conventional serpentine model is based on fixed parameters. Changing parameters to reach an optimal motion or avoid bumping to obstacles causes the robot parts slip. Using serpenoid curve is therefore no longer optimal due to the side slipping; the modified serpenoid equations presented here develops a serpenoid curve with variable parameters such that the motion remains optimal even when the parameters are changed. The results of simulations conducted here, representing motor torques and friction forces, show the efficiency of applying this method to a real robot.