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This paper considers path following control of snake robots along straight paths. Under the assumption that the forward velocity of the snake robot is nonzero and positive, we prove that the proposed path following controller -exponentially stabilizes a snake robot to any desired straight path. The performance of the path following controller is investigated through simulations and through...
This paper derives and experimentally investigates fundamental properties of the velocity of a snake robot conducting lateral undulation. In particular, the derived properties state that the average forward velocity of the snake robot 1) is proportional to the squared amplitude of the sinusoidal motion of each joint of the robot, 2) is proportional to the angular frequency of the sinusoidal motion...
This paper presents a model of the kinematics and dynamics of a planar, wheelless snake robot aimed at control design and stability analysis purposes. The proposed model is significantly less complex than existing models of planar snake robot locomotion. The paper presents an analysis of an existing complex snake robot model which reveals a set of essential properties that characterize the overall...
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