On the Dynamic Analysis of a Novel Snake Robot: Preliminary Results

Abstract

In recent years, modular robotics has become of great interest in the robotics community. Among them, snake robots are among the most flexible and versatile type of mobile robots, well-suited to a large number of applications, such as exploration and inspection tasks, participation to search and rescue missions etc. The present paper investigates the design of a novel snake robot, named Rese_Q01, currently being designed at Politecnico di Torino. In order to characterise the dynamic behaviour of the robot, a simple vehicle dynamics model is developed and basic simulations are carried out for a first implementation of a unit consisting of two modules. Preliminary results show the influence of the robot velocity on the trajectory curvature radius, as well as the effect of different ground/tire friction conditions. This analysis is the first step in order to develop effective control strategies for robot trajectories.

Path Tracking Control of an Articulated Road Roller With Sideslip Compensation

“…Nevertheless, it is noted that the above-mentioned vehicles have two front wheels while the road rollers generally have a rigid drum in the front. Quaglia et al [23] developed a simplified dynamic model of a novel snake robot designed at Politecnico di Torino, which has the same system layout with a road roller. Unfortunately, due to its snake-like architecture in the motion phase, the tangential forces generated between ground and rollers depend on sideslip effect, differing from those of road rollers.…”