Snake robot obstacle-aided locomotion on inclined and vertical planes: Modeling, control strategies and simulation

Snake robots have the potential of similar traversability capabilities as biological snakes by utilizing terrain irregularities for efficient propulsion, i.e. obstacle-aided locomotion (OAL). In order to realistically model and understand this issue we present a mathematical model for wheel-less snake robot OAL on inclined planes. The model is based on the framework of convex analysis and non-smooth dynamics, which facilitates true stick-slip descriptions as well as efficient numerical integration of the normal contact forces involved with robot-obstacle and robot-ground contact. In addition to the model, we present a shape curve-based approach to OAL where new push-points for robot-obstacle contact are identified online and a corresponding robot shape curve is calculated. Simulation results show that shape-curves are suitable for OAL both on inclined and vertical planes.