Abstract
Non-conventional principles of locomotion for mobile robotic systems are considered, namely, snake-like locomotion of multilink systems and control of motion by means of moving internal masses. These motions are possible in the presence of external resistance forces such as Coulomb's dry friction or viscous resistance. Optimal periodic motions are obtained that correspond to the maximal average velocity of the system as a whole. Evaluation of the maximal possible velocity is important for the overall estimation of operational properties of the robotic systems under consideration.
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