How self-locking reduces actuators torque in climbing snake robots

Minimization of actuators torque in snake robots reduces the energy consumption and shrinks the robot dimensions. In this paper a mathematical model for climbing concertina movement is developed. The formulation is then used to show how torque is optimized in concertina movement. The results show that the optimum occurs when self-locking takes place. Self-locking implies zero actuator torque at each joint.