Preprint Article Version 1 This version not peer reviewed

Analytical Modeling and Control of Rectilinear Snake Robots

Version 1 : Received: 11 November 2017 / Approved: 14 November 2017 / Online: 14 November 2017 (05:23:06 CET)

How to cite: Sankaran, S.; S.V. , S. Analytical Modeling and Control of Rectilinear Snake Robots. Preprints 2017, 2017110085 (doi: 10.20944/preprints201711.0085.v1). Sankaran, S.; S.V. , S. Analytical Modeling and Control of Rectilinear Snake Robots. Preprints 2017, 2017110085 (doi: 10.20944/preprints201711.0085.v1).

Abstract

This paper deals with the analytical modeling and control of rectilinear snake robots. During recent times snake robots have created much interest among researchers. The rectilinear pattern gait is one of the four biological snake locomotion modes. Rectilinear snakes have been widely used in rescue operations especially in rough terrains especially in narrow spaces where human intervention is not easy. Computational analysis of rectilinear motion is done using MATLAB.

Subject Areas

rectilinear; PID; friction; spring-mass system; dynamics

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