On the dynamic analysis of a novel snake robot: preliminary results

QUAGLIA, Giuseppe, CAVALLONE, Paride and LENZO, Basilio (2018). On the dynamic analysis of a novel snake robot: preliminary results. In: CARBONE, Giuseppe and GASPARETTO, Alessandro, (eds.) Advances in Italian Mechanism Science: Proceedings of the Second International Conference of IFToMM Italy. Mechanisms and Machine Science (68). Springer, 275-285.

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Official URL: https://www.springer.com/us/book/9783030033194
Link to published version:: https://doi.org/10.1007/978-3-030-03320-0_30
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    In recent years, modular robotics has become of great interest in the robotics community. Among them, snake robots are among the most flexible and versatile type of mobile robots, well-suited to a large number of applications, such as exploration and inspection tasks, participation to search and rescue missions etc. The present paper investigates the design of a novel snake robot, named Rese_Q01, currently being designed at Politecnico di Torino. In order to characterise the dynamic behaviour of the robot, a simple vehicle dynamics model is developed and basic simulations are carried out for a first implementation of a unit consisting of two modules. Preliminary results show the influence of the robot velocity on the trajectory curvature radius, as well as the effect of different ground/tire friction conditions. This analysis is the first step in order to develop effective control strategies for robot trajectories.

    Item Type: Book Section
    Additional Information: ISSN 2211-0984 e-ISSN 2211-0992
    Research Institute, Centre or Group - Does NOT include content added after October 2018: Materials and Engineering Research Institute > Centre for Automation and Robotics Research > Systems Modelling and Integration Group
    Departments - Does NOT include content added after October 2018: Faculty of Science, Technology and Arts > Department of Engineering and Mathematics
    Identification Number: https://doi.org/10.1007/978-3-030-03320-0_30
    Page Range: 275-285
    Depositing User: Basilio Lenzo
    Date Deposited: 09 Nov 2018 12:24
    Last Modified: 18 Mar 2021 03:22
    URI: https://shura.shu.ac.uk/id/eprint/22811

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