Serpentine locomotion of a snake-like robot in water environment

Authors

Zhijian Zuo, Shenyang Institute of Automation Chinese Academy of Sciences
Zhifeng Wang, Shenyang Institute of Automation Chinese Academy of Sciences
Bin Li, Shenyang Institute of Automation Chinese Academy of Sciences
Shugen Ma, Shenyang Institute of Automation Chinese Academy of Sciences

Document Type

Conference Proceeding

Publication Date

1-1-2009

Abstract

Serpentine Locomotion is the most common and simplest locomotion form of a snake-like robot; its main characteristic is the wave-like undulation of the snake's body. In order to realize the noticeable features of the snake-like robot's serpentine locomotion in water, we have developed an amphibious snake-like robot which can adapt to terrestrial and underwater environments. After we derived the dynamic equation for the robot's underwater serpentine locomotion, the simulation based on the dynamic model was made using ADAMS, Finally we presented the influence of the robot's joint angle parameters on the underwater performance of the robot and made experiments to validate the result of ideas and simulations. © 2008 IEEE.

Publication Source (Journal or Book title)

2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

First Page

25

Last Page

30

Recommended Citation

Zuo, Z., Wang, Z., Li, B., & Ma, S. (2009). Serpentine locomotion of a snake-like robot in water environment. 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, 25-30. https://doi.org/10.1109/ROBIO.2009.4912974