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snake-like mechanisms

Robotica (1)

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A controllability criterion based on a physical analogy: Limbless locomotion and Object grasping in Robotics
Zeki Y. Bayraktaroglu, Pierre Blazevic
Journal:

Robotica / Volume 22 / Issue 5 / October 2004

Published online by Cambridge University Press:

19 August 2004, pp. 493-503
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This paper deals with the controllability of biologically inspired snake-like mechanisms. Motion equations of the generic snake-like mechanism and investigations on its controllability lead to extremely complicated mathematical representations. The authors establish a physical analogy between the undulatory snake locomotion and object grasping. Based on this analogy, they propose a controllability criterion concerning the motion of the mobile mechanism. Results of dynamic simulations of the controlled system systematically point to the validity of the analogy-based controllability criterion. The purpose of this work is to achieve an understanding of the undulatory motion which constitutes the basis of a biologically motivated experimental setup.