Cluster Computing

, Volume 22, Supplement 6, pp 13041–13053 | Cite as

Turning strategy of snake-like robot based on serpenoid curve under cloud assisted smart conditions

  • Chao Wang
  • Yanbin Peng
  • Dongfang Li
  • Zhenhua Pan
  • Hongbin DengEmail author
  • Dongguang Li
  • Bin Li


This paper presents a turning strategy of snake-like robot based on Serpenoid curve. By using four criteria to judge turning control approaches on the basis of serpenoid curve, three commonly used turning control approaches (i.e., central value modulation method, phase modulation method and amplitude modulation method) are first analyzed. Then the tangent control approach and the combination control approach are used to solve turning challenges such as deficiency in maintaining the serpenoid curve, limited turning angle, discontinuous joint angle, large turning radius and large amplitude of joint angle variation during and after turning. These approaches were tested and verified by using a snake-like robot prototype. It is found that the proposed approaches work well for the turning locomotion of the snake-like robot. The present turning strategy provides an important alternative for locomotion control of the snake-like robot.


Snake-like robot Serpenoid curve Turning strategy Control approach 



This work was supported by the national defense basic research and development plan of the assembly support.

Compliance with ethical standards

Conflict of interest

The authors declare that there is no conflict of interests regarding the publication of this paper.


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Copyright information

© Springer Science+Business Media, LLC 2017

Authors and Affiliations

  • Chao Wang
    • 1
    • 2
  • Yanbin Peng
    • 3
  • Dongfang Li
    • 1
  • Zhenhua Pan
    • 1
  • Hongbin Deng
    • 1
    Email author
  • Dongguang Li
    • 1
  • Bin Li
    • 2
  1. 1.School of Mechatronical EngineeringBeijing Institute of TechnologyBeijingChina
  2. 2.China North Industries Corp.BeijingChina
  3. 3.Beijing Institute of Aerospace Control DecicesBeijngChina

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