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A survey on snake robot modeling and locomotion

Published online by Cambridge University Press:  03 March 2009

Aksel Andreas Transeth ,
Kristin Ytterstad Pettersen  and
Pål Liljebäck
Aksel Andreas Transeth*
Affiliation:
SINTEF ICT, Applied Cybernetics, NO-7465 Trondheim, Norway
Kristin Ytterstad Pettersen
Affiliation:
Department of Engineering Cybernetics, Norwegian University of Science and Technology, O.S. Bragstadsplass 2D, NO-7491 Trondheim, Norway
Pål Liljebäck
Affiliation:
Department of Engineering Cybernetics, Norwegian University of Science and Technology, O.S. Bragstadsplass 2D, NO-7491 Trondheim, Norway
*
*Corresponding author. E-mail: Aksel.A.Transeth@sintef.no
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Summary

Snake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last 10–15 years, the published literature on snake robots has increased significantly. The purpose of this paper is to give a survey of the various mathematical models and motion patterns presented for snake robots. Both purely kinematic models and models including dynamics are investigated. Moreover, the different approaches to biologically inspired locomotion and artificially generated motion patterns for snake robots are discussed.

Keywords

Snake robotsDynamicsKinematicsLocomotion
Type
Article
Information
Robotica , Volume 27 , Issue 7 , December 2009 , pp. 999 - 1015
Copyright
Copyright © Cambridge University Press 2009

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