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F. Barazandeh, B. Bahr, A. Moradi, How Self-Locking Reduces Actuators Torque in Climbing Snake Robots, IEEE International Conference on Advanced Intelligent Mechatronics, 2007, pp. 1-6.

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Article

Locomotion of Snake Robot through the Pipe

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


Journal of Automation and Control. 2015, Vol. 3 No. 3, 135-139
DOI: 10.12691/automation-3-3-20
Copyright © 2015 Science and Education Publishing

Cite this paper:
František Trebuňa, Ivan Virgala, Michal Kelemen, 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.

Correspondence to: Ivan  Virgala, Department of Mechatronics, Technical University of Košice, Faculty of Mechanical Engineering, Košice, Slovakia. Email: ivan.virgala@tuke.sk

Abstract

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.

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