STUDY OF LATERAL LOCOMOTION OF SNAKE ROBOT

A new kind of snake robot is presented and its three-dimensional kinematic model has been built up. Two types of lateral locomotion, sidewinding and lateral rolling are implemented. The former in any direction can be achieved by varying the frequency of two waves out of phase and the latter that can be divided into three types can be obtained by controlling the amplitude of waves, especially when the amplitude is high enough, the snake robot can avoid some obstacles.