Modeling and analyzing of traveling wave gait of modular snake robot

• Main Authors: Abdulshaheed, Areej G., Hussein, Mohamed, Mat Dzahir, Mohd. Azuwan, Mad Saad, Shaharil
• Format: Book Section
• Published: Springer Science and Business Media Deutschland GmbH 2022
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/100524/; http://dx.doi.org/10.1007/978-981-33-4597-3_14

Traveling wave locomotion of snake robot considers one of the efficient locomotion that can be used in narrow spaces and unstructured environment. Few works have been done on studying and analyzing this gait. In this paper, we present the kinematic and dynamic analysis of traveling wave locomotion using the Lagrange Euler equation. The effects of a dynamic model and an elaborate model of the friction between the robot and the supporting plane are presented, were, the supporting and friction forces can be calculated by solving the equilibrium equation. The dynamic model, forward and turning motion of the traveling wave gait are verified using simulation. It was shown from the simulation investigation that joint torque was observed to be high near the robot’s center of mass. It is also noticed that the joint torque increases with the increase of the friction coefficient and reduces with the increase of the initial winding angle.