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Assisted passive snake-like robots: conception and dynamic modeling using Gibbs–Appell method

Published online by Cambridge University Press:  01 May 2008

Gholamreza Vossoughi ,
Hodjat Pendar ,
Zoya Heidari  and
Saman Mohammadi
Gholamreza Vossoughi*
Affiliation:
Center of Excellence in Design, Robotics and Automation (CEDRA), Mechanical Engineering Department, Sharif University of Technology, Azadi Ave. Tehran 11365-9567, Iran.
Hodjat Pendar
Affiliation:
Center of Excellence in Design, Robotics and Automation (CEDRA), Mechanical Engineering Department, Sharif University of Technology, Azadi Ave. Tehran 11365-9567, Iran.
Zoya Heidari
Affiliation:
Center of Excellence in Design, Robotics and Automation (CEDRA), Mechanical Engineering Department, Sharif University of Technology, Azadi Ave. Tehran 11365-9567, Iran.
Saman Mohammadi
Affiliation:
Center of Excellence in Design, Robotics and Automation (CEDRA), Mechanical Engineering Department, Sharif University of Technology, Azadi Ave. Tehran 11365-9567, Iran.
*
*Corresponding author. E-mail: vossough@sharif.edu
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Summary

In this paper, we present a novel structure of a snake-like robot. This structure enables passive locomotion in snake-like robots. Dynamic equations are obtained for motion in a horizontal plane, using Gibbs–Appell method. Kinematic model of the robot include numerous nonholonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs–Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in considerable reduction of simulation time. Simulation results show that, by proper selection of initial conditions, joint angles operate in a limit cycle and robot can locomote steadily on a passive trajectory. It can be seen that the passive trajectory is approximately a Serpenoid curve.

Keywords

Snake-like robotPassive motionDynamic modelingGibbs–Appell methodSerpenoid curve
Type
Article
Information
Robotica , Volume 26 , Issue 3 , May 2008 , pp. 267 - 276
Copyright
Copyright © Cambridge University Press 2007

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