Kinematics and Motion Analysis of a Three-Dimensional Sidewinding Snake-like Robot

In this paper, kinematics of a snake-like robot with maneuverability in three dimensions is calculated using Denavit-Hartenberg and modified DenavitHartenberg conventions and is verified by Matlab’s Simulink ® . A spring-damper system is used to model ground and therefore its normal forces applying to the robot. Coulomb friction is used as the friction model and two different sidewinding gaits are applied to the robot and its motion is compared using three simulation packages, namely Webots ® , Simulink ® and Adams ® .

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