Evolving Snake Robot Controllers Using Artificial Neural Networks as an Alternative to a Physics-Based Simulator
In this paper you can find a review of snakelike robot constructions as well as report on biometrical requisites for development such devices and give a some description of mechanical and mathematical models snakes movement. Point out on existence rational model of snakes’s movement. This model is very helpful to develop effective algorithms to control locomotion snakelike robots witch have no wheels. In report described the real hardware snakelike robot locomotion control and give a detailed description of snakelike robot developed in Scientific Research and Design Institute of Robotics and Technical Cybernetics in Saint Petersburg, Russia. This model have already performed showing different modes of locomotion.