Investigation of self-locking in concertina movement

Minimization of actuators torque in snake robots, reduces the energy consumption and the robot dimensions. In this paper a mathematical model for concertina movement is developed. The formulation is then used to show how torque is optimized in this type of locomotion. The result of optimization was the self-locking property. If self-locking property occurs, zero actuator torque is needed to maintain the robot at a given position.