Article
Version 1
Preserved in Portico This version is not peer-reviewed
Analytical Modeling and Control of Rectilinear Snake Robots
Version 1
: Received: 11 November 2017 / Approved: 14 November 2017 / Online: 14 November 2017 (05:23:06 CET)
How to cite: Sankaran, S.; S.V., S. Analytical Modeling and Control of Rectilinear Snake Robots. Preprints 2017, 2017110085. https://doi.org/10.20944/preprints201711.0085.v1 Sankaran, S.; S.V., S. Analytical Modeling and Control of Rectilinear Snake Robots. Preprints 2017, 2017110085. https://doi.org/10.20944/preprints201711.0085.v1
Abstract
This paper deals with the analytical modeling and control of rectilinear snake robots. During recent times snake robots have created much interest among researchers. The rectilinear pattern gait is one of the four biological snake locomotion modes. Rectilinear snakes have been widely used in rescue operations especially in rough terrains especially in narrow spaces where human intervention is not easy. Computational analysis of rectilinear motion is done using MATLAB.
Keywords
rectilinear; PID; friction; spring-mass system; dynamics
Subject
Computer Science and Mathematics, Robotics
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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