A Novel Kinematics Modeling Method for Snake Robot in Travelling Locomotion

Snake robots moving in traveling wave locomotion are able to move forward and backward in narrow passages and partial unstructured environment. In this paper, a novel kinematics modeling method for travelling wave gait is presented. This method can be implemented on different snake body curves. In the present work, snake body can assume any shape that can cause propulsive motion. Unlike previous studies, relative joint angles are more simply obtained using numerical methods. Furthermore, angles of the two links making contact with ground can have different values. To develop the kinematics model, dynamics model is necessary and is therefore developed. Finally, the kinematics model is simulated in Webots software. Results confirm that the established kinematics modeling generates traveling wave locomotion. Effects of asymmetrical absolute angels of contact points on progression speed using Webots software is also investigated and reported.