Analysis and Control of a Gait of Snake Robot

In this paper, we develop a model of a snake-like robot consisting of n rigid links and propose several control strategies to achieve smooth undulative locomotion and position control. The model is based on nonholonomic velocity conditions that arise from non-slipping assumption about the wheels. Singular postures of the robot are analyzed and they are taken in account while deriving the control law. The control strategies are based on Lyapunov method and on constraining the trace of the snake's head into some kind of serpenoid trace, respectively. The later method is also applied for a simple tracking control method.