Serpentine locomotion of a snake-like robot in water environment

Serpentine Locomotion is the most common and simplest locomotion form of a snake-like robot; its main characteristic is the wave-like undulation of the snake´s body. In order to realize the noticeable features of the snake-like robot´s serpentine locomotion in water, we have developed an amphibious snake-like robot which can adapt to terrestrial and underwater environments. After we derived the dynamic equation for the robot´s underwater serpentine locomotion, the simulation based on the dynamic model was made using ADAMS, Finally we presented the influence of the robot´s joint angle parameters on the underwater performance of the robot and made experiments to validate the result of ideas and simulations.