Serpentine Robot Locomotion: Implementation through Simulation

Machine locomotion using wheels, tracks or legs is common where as generating locomotion in a limbless, wheelless system is more challenging. Wheeled locomotion and legged locomotion have already been studied by many researchers in detail. On the contrary the limbless locomotion has drawn very limited degree of interest. In limbless locomotion (of a serpent) the cyclic changes in the body shape allow it to locomote. This paper considers the development of a hyper redundant un-tethered serpentine robot for implementation of various serpentine and non serpentine gaits. A highly optimized 3D model of the robot was prepared and exported to CAE environment for kinematic and dynamic analysis. Parameters so obtained through simulation were implemented on the robot for demonstration of serpentine locomotion.