Journal of Automation and Control
ISSN (Print): 2372-3033 ISSN (Online): 2372-3041 Website: Editor-in-chief: Santosh Nanda
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Journal of Automation and Control. 2015, 3(3), 135-139
DOI: 10.12691/automation-3-3-20
Open AccessArticle

Locomotion of Snake Robot through the Pipe

František Trebuňa1, Ivan Virgala2, , Michal Kelemen2 and Tomáš Lipták2

1Department of Applied Mechanics and Mechanical Engineering, Technical University of Košice, Faculty of Mechanical Engineering, Košice, Slovakia

2Department of Mechatronics, Technical University of Košice, Faculty of Mechanical Engineering, Košice, Slovakia

Pub. Date: December 15, 2015

Cite this paper:
František Trebuňa, Ivan Virgala, Michal Kelemen and Tomáš Lipták. Locomotion of Snake Robot through the Pipe. Journal of Automation and Control. 2015; 3(3):135-139. doi: 10.12691/automation-3-3-20


The paper deals with concertina locomotion of snake robot. Mathematical model of robot locomotion is based on locomotion of natural snake. The kinematic model is derived by homogeneous transformation matrices. In the fourth section, the mechanical design of experimental snake robot LocoSnake is introduced. The robot can perform planar motion by means of segments with 2 DOF, one revolute and one prismatic joint. In the following section the simulation of concertina locomotion is done in Matlab. Simulation is compared with experiments and the conclusion are discussed.

locomotion simulation snake robot

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