Abstract
A complete formulation of the equations of motion of snake robot locomotion is presented. The equation is in closed-form (i.e., analytic form) which explicitly describes the input-output relationships in terms of independent variables. It includes the dynamics of the unconstrained motion, the constraints, and the Coulomb friction forces induced by the constraints. The salient feature of the equations of motion is that it is only based on the physical variables which configure the motion. No auxiliary variables such as Lagrange multipliers or pseudo-generalized speeds are needed. Therefore, the equations of motion are most suitable for control design and generic dynamic analysis.
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Qingmin, H., Jin, H., Xingyu, L. (2023). The Closed-Form Equations of Motion of a Snake Robot with Coulomb Friction Force. In: Proceedings of China SAE Congress 2021: Selected Papers. Lecture Notes in Electrical Engineering, vol 818. Springer, Singapore. https://doi.org/10.1007/978-981-19-3842-9_19
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DOI: https://doi.org/10.1007/978-981-19-3842-9_19
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