Quasi-static motion of a new serial snake-like robot on a water surface: a geometrical approach
Xiao Xie,Johann Herault,Étienne Clement,Vincent Lebastard,Frédéric Boyer,Xiao Xie,Johann Herault,Étienne Clement,Vincent Lebastard,Frédéric Boyer
This paper reports methods to compute the equilibrium stances of a new snake-like robot designed to stabilize its head on a free water surface. To adjust rapidly the stability of the robot, this bio-inspired robot can rotate independently each body-shell, and modify the level of immersion of each module. To predict the stable stance accessible by this additional degree of freedom, a model is devel...
