In this paper, we restrict our attention to sidewinding locomotion and present detailed
kinematics and dynamics of a 3-D multi-link snake robot. To obtain kinematics of three …

Intuitively representing the motion of a snake robot is difficult. This is in part because the
internal shape changes that the robot uses to locomote involve the entire body and no single …

Snake robots are ideally suited to highly confined environments because their small cross-
sections and highly redundant kinematics allow them to enter and move through tight …

A mathematical model featuring the motion of a multilink wheeled vehicle is developed
using a nonholonomic model. A detailed analysis of the inertial motion is made. Fixed points …

In this paper we restrict our attention to worm-like, vertical traveling wave locomotion and
present detailed kinematics and dynamics of a planar multi-link snake robot. Lagrange's …

We consider the problem of simplifying the typically complex task of deriving dynamical
mechanical models of planar snake robots. More precisely we propose a modeling strategy …

The paper parents our recent development on the earthworm-like soft robot. The robot is
designed through combination of smart electro-active polymer (EAP) materials and the …

This paper is concerned with the controlled motion of a three-link wheeled snake robot
propelled by changing the angles between the central and lateral links. The limits on the …

The article deals with the kinematics of a three section snake-like robot. In the introductory
part of the article, the main advantages and application possibilities of a snake-like …

Snakes and other limbless animals continue to attract the close attention of scientists
because of their unique locomotion abilities. This paper presents a novel approach to …