This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...

Snakes can utilize obstacles to move through complex terrain, but the development of robots with similar capabilities is hindered by our understanding of how snakes manage the forces arising from interactions with heterogeneities. To discover principles of how and when to use potential obstacles, we studied a desert-dwelling snake, C. occipitalis, which uses a serpenoid template to move on homo...

Amphibious snake-like robots are advantageous than traditional snake-like robots for their adaptability in aquatic environments. This paper presents a novel amphibious snake-like robot. The mechanism and control system of the robot are illustrated. A simplified Serpenoid Curve is used to generate the basic undulation of the robot. Three-dimensional gaits are generated by combining undulations o...

Biological snakes’ diverse locomotion modes and physiology make them supremely adapted for environment. When their unique movements are broadly classified, the following four gliding modes exist: 1) Serpentine locomotion; 2) Rectilinear locomotion; 3) Concertina locomotion; 4) Side winding locomotion. However, the serpentine locomotion is the movement seen typically in almost all kinds of snake...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

This paper presents multi-objective optimization for a snake robot with serpentine locomotion. Genetic algorithm (GA) is used to achieve two objectives: minimizing the total travelling time and energy consumption. The effect of initial values winding angle acceleration on consumption average speed depicted. simulation results show periodic pattern joint torques when maintains serpenoid curve du...

in this paper, we give some characterizations for legendre spherical, legendre normal and legendre rectifying curves in the 3-dimensional sasakian space. furthermore, we show that legendre spherical curves are also legendre normal curves. in particular, we prove that the inverse of curvature of a legendre rectifying curve is a non-constant linear function of the arclength parameter.

introduction: nowadays,  considerable developments  in  the field  of  radiotherapy have  been  achieved.  they  include  the  advances  made  in  the  equipments  and  treatment  planning  techniques  which  require  highly complex calculations. such achievements have made it possible to treat cancer patients not only  with  higher  radiation  dose  but  also  with  higher  precision  and  con...