Stability analysis of snake robot locomotion based on Poincaré maps

This paper presents an analysis of snake locomotion that explains how non-uniform viscous ground friction conditions enable snake robots to locomote forward on a planar surface. The explanation is based on a simple mapping from link velocities normal to the direction of motion into propulsive forces in the direction of motion. From this analysis, a controller for a snake robot is proposed. A Poincare?? map is employed to prove that all state variables of the snake robot, except for the position in the forward direction, trace out an exponentially stable periodic orbit.