A new kind of snake robot is presented and its three dimensional kinematic model has been built up. Two types of lateral locomotion, sidewinding and lateral rolling are implemented.
Introducing the serpenoid curve detailed and designing two joint angles tracking controller by the passivity control technique. Illuminating the serpenoid motion of the snake robot and the validity of the controller bysimulation.
In this paper, the improve ment of the snake-like robot's serpentine input function for realizing its head raising motion is presented, and the dynamic model for raising motion is established to analyze the torques contributing to the motion.