Simulation of a Novel Snake-Like Robot

This research focuses on simulation of a new snake-like robot. Most of the snake-like robots developed until now are based on the lateral undulation mode of locomotion. Nevertheless, it seems difficult to apply this mode of locomotion in realistic conditions such as non-planar and complex grounds, since most of these robots use wheels. As a result the rectilinear mode of locomotion is used for this snake-like robotic structure. After introducing the biological standpoint and locomotion principles of the robot, the simulation environment is presented. Simulations of a five module version of the snake-like robot performing a simple trajectory tracking with a constant rectilinear propulsive component are shown. Simulation results of two direction control methods are presented. The paper is concluded based on the results and future research prospects are introduced.