A Creeping Snake-like Robot with Partial Actuation
Yiming Cao,Longchuan Li,Shugen Ma,Yiming Cao,Longchuan Li,Shugen Ma
Enlightened by the creeping gait of natural snakes, snake-like robots swing joints side to side at similar tracks for generating propelling forces. However, it is not always essential to control all joints of a snake-like robot to realize the creeping gait. Therefore, in this paper, a creeping snake-like robot with partially actuated joints has been investigated, towards reducing the redundancy ca...
