International Journal of Robotics Research
Linear-time dynamics using Lagrange multipliers
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Kinematic and Dynamic Simulation of Multibody Systems: The Real Time Challenge
Kinematic and Dynamic Simulation of Multibody Systems: The Real Time Challenge
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Robot Dynamics Algorithm
The First International Symposium on Experimental Robotics I
Construction and operation of a snake-like robot
IJSIS '96 Proceedings of the 1996 IEEE International Joint Symposia on Intelligence and Systems
Analysis of Creeping Locomotion of a Snake-like Robot on a Slope
Autonomous Robots
Kinematics for multisection continuum robots
IEEE Transactions on Robotics
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In this paper, we present a novel structure of a snake-like robot. This structure enables passive locomotion in snake-like robots. Dynamic equations are obtained for motion in a horizontal plane, using Gibbs–Appell method. Kinematic model of the robot include numerous nonholonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs–Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in considerable reduction of simulation time. Simulation results show that, by proper selection of initial conditions, joint angles operate in a limit cycle and robot can locomote steadily on a passive trajectory. It can be seen that the passive trajectory is approximately a Serpenoid curve.