A snake robot for locomotion in a pipe using trapezium-like travelling wave

Snake robots are a suitable solution for various types of applications, especially in rough terrain or hardly accessible areas such as, example, pipes. This article deals with snake robot moving pipe using so-called trapezium-like travelling wave. In this paper, we present mathematical model locomotion the rectangular cross-section. Subsequently, designed control algorithm Within introduced motion matrix wave that contains information about vector generalized variables at any point cycle. The paper also presents simulation MATLAB R2019b interfacing CoppeliaSim V4.0.0. Furthermore, our research have developed an experimental purpose to verify derived model, and model. Experimental results show influence certain parameters on properties, as travelled distance average speed passing through pipe. final part discussed key elements proposed highlighted.