Abstract
Thanks to the special physical architectures and various locomotion gaits, snake robots may offer significant benefits over traditional legged or wheeled locomotion designs in vast types of scenarios. This paper proposes an innovative snake robot with digitally-actuated Stewart platforms as its modules and mainly focuses on the simulations of various snake gaits. Three categories of fitting algorithms are elaborated in simulations of lateral undulation and Configuration-Fitting Algorithm of Four Modules is demonstrated as a universal gait fitting algorithm for all kinds of snake robots with binary actuators. Several typical snake gaits are simulated and the results demonstrate the excellent mobility of the snake robot.
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