The Dynamical Model and the Slithering Controller of Continuous Snakelike Robot on Smooth Surface

This paper introduces a new dynamical model for a continuous snake-like robot and a controller yielding slithering motion on a smooth curved surface. Smooth curve models are common tools in studies on snake-like robots, however, the application of those models is limited to cases without sideslips. Our new model can deal with locomotion with sideslips on curved surfaces. Moreover, the numerical simulation of climbing up the surface of a cylinder based on our model reveals the important role of the tangential friction of the body, which was underestimated by previous studies. The result illuminates the trade-off relation between the energy efficiency and the reachability of the snake-like robots.