– length of the real segment of the snakelike robot
In 2002 Saito and colleagues presented a simple snake robot they used to validate theoretical results ==[7]=.
Mathematical models of snake robot motion is presented.
The word hobby, however, doesn’t quite capture the passion Gavin brings to robotics. His biologicallyinspired snake robots (check them out at ) have been featured in multiple museums, , sparked worldwide press coverage and attracted . One of his snakes even served as the ring bearer at his wedding.
This simulation reveals that the video images from the camera oscillate seriously because the camera on the snake robot head follows serpenoid curve during the locomotion.
This greatly improves the performance of the snake robot.
Vector . Transformation matrix serves to rotate the coordinate system from the global origin about the angle corresponding to coordinate _{} and at the same time for the axial displacement in the direction of the section’s axis about the value . However, this is a simulation of a virtual section connected with the global frame of the global coordinate system. Transmission of a coordinate system thus reaches the marginal position (position of a tail) of a segment 1. The matrix represents a transformation of a coordinate system from the beginning of a first segment of a three link snakelike robot to a place of rotary joints between the first and the second segment. The matrix serves only to rotate the coordinate system in a tail part of the snake and the matrix serves to rotate the coordinate system in a joint between the tail and the middle segment. The transformation matrix describes the transformation of a coordinate system from the space of a rotary joint between the first and the second segment to a space of the second joint between the second and the third segment together with a rotation. The last matrix describes the rotation of a coordinate system between the middle and the head segment. The constant represents the distance between the joints, which corresponds to the length of one segment of a snake in a simplified form ^{[, ]}.
We got the transformation matrix by the multiplication of all the previous matrices in a certain order. By installing the transformation matrix into the Equation (8) we got the final form of the position vector of a head center of mass of a snakelike robot Equation (18). Vector is the position vector of a head segment center relative to the last local coordinate system placed in the rotary joint between the head and the second segment ^{[]}.
Snake Robot Thesis Group  YouTube
The robot is designed to be capable of anguilliform swimming like seasnakes and lampreys in water and lateral undulatory locomotion like a snake on ground.
The model is based on the framework of nonsmooth dynamics and convex analysis that allows us to easily and systematically incorporate unilateral contact forces (i.e., between the snake robot and the ground surfa ..."
18/11/2014 · DLSU Snake Robot Thesis Group ..

Modified serpentine motion of the snake robot
The contact between a snake robot and the ground surface can sometimes be approximated by a nosidewaysslip constr...

Snake robot to the rescue  SINTEF
To which degree the snake robot is to be autonomous is highly dependent on the application within which it is used.

Snake robot to the rescue  innovationsreport
Next, the control plant model is used for design of orientation controllers for the snake robot.
system for snakearm robots for his thesis
In addition, experiments are performed with the snake robot “Aiko ” for locomotion by lateral undulation and sidewinding, both with isotropic friction.
thesis on Reconfigurable Modular Snake Robot.
In order to accurately model and understand this phenomenon, this paper presents a novel nonsmooth (hybrid) mathematical model for wheelless snake robots, which allows the snake robot to push against external obstacles apart from a flat ground.
Masteroppgave Student thesis Abstract [en] Snake robots have been ..
Abstract — This paper addresses the design and dynamic analysis of a new generation of fluidic elastomer actuators (FEAs) that offer bidirectional bending developed as motion segments of a pressureoperated soft robotic snake.
Snake robot thesis  Resume type up
The article deals with the kinematics of a three section snakelike robot. In the introductory part of the article, the main advantages and application possibilities of a snakelike movement in practice are mentioned. In the next chapter, the mathematical model of a direct kinematics of a three link snakelike robot was created. It also includes the fourth, variable “virtual” link. Mathematical model was numerically confirmed in the conclusion. Homogeneous transformational matrices were used for the creation of mathematical model. Subsequently, positional vectors of centers of mass all links were expressed. For the derivation of velocity vectors centers of mass, the numerical methods with the application of differential operators were used. In the conclusion of the work, the graphical presentation of the centers of mass positions is illustrated. They were realized in the Matlab 2012 programming environment.
All hail the robot snake  Stuff  General  PC & Tech Authority
We have applied the knowledge of basic mathematical structures, more specifically matrix methods, in addressing the problems of direct kinematics of a snakelike robot. Direct kinematics may be defined in such a way that before the realization of a calculation, we know the dimensions of a mechanism and the joint coordinates of the whole chain with n segments which are represented by the transposed vector q ^{[, ]}.
Simulation of a Snake Robot (PDF Download Available)
Since we have determined the position vectors of the centers of mass of kinematical segments of a chain, we can further determine the velocity vectors of individual segments. For the determination, we will use an equation for the calculation of a velocity matrix. For the determination of the velocity vectors, we will derive the relevant transformation matrix. Derivation will be carried out by the numerical method with the use of differential operators of the transformation matrices. Velocity vectors of a snakelike robot segments will be calculated with the use of the equations: