Dynamic manipulability of a snake-like robot and its effect for sinus-lifting motion

This paper deals with sinus-lifting motion which is some animal snake motion such as raising part of body. This motion is known to be the effective action in dynamics and anatomy fields. Our approach in this paper is to analyzed this motion in the sense of control theory. A snake-like robot which consists of active joints and passive wheels with no side-slip condition is used in this paper. The concept of dynamic manipulability of a snake-like robot is applied to the general locomotion control for this model. Numerical simulations based on this manipulability show that sinus-lifting motion improve the manipulability and affect the period of body shape.