Determination of optimum number of ground contact points in modeling a snake-like robot with maneuverability in three dimensions

In this paper, effects of number of contact points with ground in each link for three-dimensional modeling of a snake-like robot are discussed. The snake-like robot is modeled in Matlab´s Simmechanics toolbox. Linear spring-damper system is utilized in order to model the ground for each contact point. Considering the increase of number of contact points in our model leads to a more realistic performance and consequently more realistic results, we evaluated how adding to this number affects outcomes of position, velocity, acceleration and motors torque. Finally, three optimum numbers of contact points are suggested for three different snake-like gaits using SPSS Statistics software. The investigated gaits are serpentine and traveling wave, as two dimensional motions, and sidewinding as an example of three-dimensional gaits.