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1、Proceedingsofthe1999EEEInternationalConferenceonRobotics&AutomatlonDetroit,MichiganMay1999AnalysisofSnakeMovementFormsforRealizationofSnake-likeRobotsShugenMADepartment,ofSystemsEngineeringIbarakiUniversity,FacultyofEngineering4-12-1Nakanarusawa-Cho,Hitachi-Shi,316-8511JAPAN
2、Tel:+S1-291-38-5209Email:shugen@dse.ibaraki.ac.jpAbstractmovement,2)Rectilinearmovement,3)Concertinamovement,and4)Sidewindingmovement.However,Thisresearcharmstodiscocermech,anismandprincipletheSerpentinemovement.(Creepinglocomotion)isthefortheemergenceofthcsnakes'movementino
3、rdertoreal-movementtobeseentypicallyinalmostallkindsofizeasnake-likerobot.Inthisstudy,wcelucidatedthestan-dardcreepingmovementformofasnake,whichisthetypi-snake,andisaglidingmodewhosecharacteristiciscallocomotivemotionshownbysnakes.ThecalledSerpen-thateachpartofthebodymakessi
4、milartracks.Fig-ure1showstheformthatthesnakeisduringcreepingtinecurveintheconstantstcady-statevelocitywasderivedfortheuniformcreepinglocomotionofthesnake,throughlocomotionandfigure2showstheglidingcurveofthesnakecreepinglocomotion,respectively.analyzingphysiologicallyitsmuscl
5、echaracteristics.Mus-cularforceuiasthendiscussedforthisuniformlocomotivecurve.We,inthisstudy,alsocomparedthelocomotiveef-ficiencies.forvariouscreepingmovementcurvesofsnakelocomotion,byanalyzing1h.eratioofthetcmgentialforcetothenormalforceandthepowerrequiredforsnakeloco-m.oti
6、on.Theresultsshowedthatthe'proposedSerpentinecurveismorevalidasthesnakecreepinglocomotionshapethantheformerlysuggesttdcurves.P1IntroductionFigure2:GlidingcurveofthesnakecreepinglocometionSnakesperformmanykindsofmovement.adaptedtotheirenvironment.Insteadofbeinghandicaps,theIn
7、thisstudy,weelucidatethestandardcreepinglackoflimps.theconsidera.bleelongationofthebody,movementform(S-shapedcurve)ofasnake.Theandt,heparticularmodeoflocomotionha,veallowedformintheconstant,steady-statevelocityisderived,snakestoexpandintodiverseenvironments.Oneofthroughanaly
8、zingphysiologicallyitsmusclecharac-snakes'assetsistheirabilitytsoimniediate
