A hybrid model of obstacle-aided snake robot locomotion

  title={A hybrid model of obstacle-aided snake robot locomotion},
  author={P{\aa}l Liljeb{\"a}ck and Kristin Ytterstad Pettersen and \Oyvind Stavdahl and Jan Tommy Gravdahl},
  journal={2010 IEEE International Conference on Robotics and Automation},
A snake can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This characteristic feature of biological snake locomotion, denoted obstacle-aided locomotion, is investigated for snake robot locomotion purposes in this paper. The paper presents a hybrid model of the dynamics of a planar snake robot interacting with obstacles in its environment. Obstacle contact forces are calculated by formulating and solving a linear… CONTINUE READING

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