Design and control of redundant snake robot

To establish a universal and easily controlled gait for practical use of snake robot movement, inchworm locomotion gait model based on a serpenoid curve is presented. By analyzing the relations of two adjacent waves in the process of locomotion and doing an approximation of the serpenoid curve, the motion function of relative angles between two adjacent links and the absolute angles between each link and the baseline on the traveling curve are built. Three parameters of the criterions affecting the efficiency of the gait are discussed by simulations and experiments. The results show that f is insensitive to n; raising n increases dun it significantly; the maximum wave amplitude of a is a decreasing function of n; and increasing a reduces the displacement influence of f when n is determined. We define the redundancy controllable system of hyper redundant systems. We derive the condition that the redundant snake robots become redundancy controllable, and the control law with considering the redundancy. Configuration avoidance and the obstacle avoidance of he snake robots. Simulation results are shown.