Efficient locomotion on non-wheeled snake-like robots
Julián Colorado (Universidad Politécnica de Madrid)
Antonio Barrientos (Universidad Politécnica de Madrid)
Claudio Rossi (Universidad Politécnica de Madrid)
Mario Garzón (Robotics and Cybernetics Group, Universidad Politécnica de Madrid)
María Galán (Universidad Politécnica de Madrid)
Jaime Del Cerro (Universidad Politécnica de Madrid)
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Abstract
This article presents our current work on studying energy efficient locomotion on crawling snake-like robots. The aim of this work is to use existing biological inspired methods to demonstrate lateral undulation planar gaits for efficiently controlling high-speed motion as a function of the terrain surface. A multilink non-wheeled snake-like robot is being developed for experimentation and analysis of efficient serpentine locomotion based on simulation results.
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