Cooperative control of two snake robots

In this paper, we derive a dynamic model and a control law for cooperative task of two snake robots which have wheeled links and demonstrate the validity of proposed controller by simulation and experiment. First, we derive a dynamic model of single snake robot with redundancy by introducing the shape controllable points. Next, we extend it to the model for the cooperative task of two redundant snake robots and propose a control law to accomplish this task. Finally, in order to demonstrate the validity of the derived model and effectiveness of the proposed control law, simulation and experiment are carried out