Winding and task control of snake like robot

In the last paper, we proposed a winding and reaching control technique using a physical index of horizontal constraint force for a 3D snake-like robot. Using a snake like robot called SMA, the validity of the methods was shown experimentally. In this paper control methods in the last paper are summarized and a control method of an active impedance control of vertical joints is proposed for winding locomotion for rough terrain. The validity of the proposed method is shown by an experiment.