Trident Snake Robot Motion Simulation in V-Rep

  • Roman Byrtus
  • Jana VechetováEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11472)


We present a simulation of a trident snake robot motion in two local control models, the original one and its nilpotent approximation. More precisely, we derive the control system from the kinematics of a trident snake robot, calculate its nilpotent approximation and compare these two models by simulating their local motion planning in software V-Rep.


Non–holonomic kinematics Local control Snake robot Nilpotent approximation 



The first author was supported by a grant of the Czech Science Foundation (GAČR) no. 17–21360S. The second author was supported by a grant no. FSI-S-17-4464.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Faculty of Mechanical EngineeringBrno University of TechnologyBrnoCzech Republic

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