Analysis of helical gait of a snake-like robot

This paper presents our work on analysis of helical gait for snake-like robots. Although helical gait of snake-like robots was realized before, there is no any intensive investigation about the relationship between its performance and the control parameter settings. In this paper, we firstly introduce our SIA snake-like robot and its helical gait equations, then derive the snake-like robotpsilas body shape which is used for control, finally perform some comparative experiments to pursue the characteristics of the helical gait.

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