Gait Design Method for a Snake Robot by Fitting a Nonsmooth Backbone Curve

Gait Design Method for a Snake Robot by Fitting a Nonsmooth Backbone Curve | Authorea try { document.documentElement.classList.add('js'); } catch (e) { } var _gaq = _gaq || []; _gaq.push(['_setAccount', 'G-8VDV14Y67G']); _gaq.push(['_trackPageview']); (function() { var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true; ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js'; var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s); })(); Skip to main content Preprints Collections Wiley Open Research IET Open Research Ecological Society of Japan All Collections About About Authorea FAQs Contact Us Quick Search anywhere Search for preprint articles, keywords, etc. Search Search ADVANCED SEARCH SCROLL This is a preprint and has not been peer reviewed. Data may be preliminary. 18 February 2025 V1 Latest version Share on Gait Design Method for a Snake Robot by Fitting a Nonsmooth Backbone Curve Author : Jingwen Lu 0000-0001-7415-4510 [email protected] Authors Info & Affiliations https://doi.org/10.22541/au.173990711.13357210/v1 169 views 104 downloads Contents Abstract Supplementary Material Information & Authors Metrics & Citations View Options References Figures Tables Media Share Abstract This paper presents a gait design method for a snake robots fit non-smooth backbone curves. Introducing bending angles at the points where the directions of tangent vectors of the backbone curve changes discontinuously breaks the restriction that the left and right limits of tangent vectors at each point on the backbone curve fitting the target shape of the snake robot must be the same, which makes the design of the target trunk curve simpler and more convenient. The method was utilized to design gaits for spanning motions between parallel and intersecting bars. Three gaits were demonstrated in the simulation to verify the effectiveness of the fitting method. Supplementary Material File (gait design method for a snake robot by fitting a non-smooth backbone curve_v2.pdf) Download 2.42 MB Information & Authors Information Version history V1 Version 1 18 February 2025 Copyright This work is licensed under a Creative Commons Attribution 4.0 International License Keywords biologically-inspired robots gait design hyper-redundant mechanism motion control snake robot Authors Affiliations Jingwen Lu 0000-0001-7415-4510 [email protected] View all articles by this author Metrics & Citations Metrics Article Usage 169 views 104 downloads .FvxKWukQNSOunydq8rnd { width: 100px; } Citations Download citation Jingwen Lu. Gait Design Method for a Snake Robot by Fitting a Nonsmooth Backbone Curve. Authorea . 18 February 2025. DOI: https://doi.org/10.22541/au.173990711.13357210/v1 If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download. For more information or tips please see 'Downloading to a citation manager' in the Help menu . Format Please select one from the list RIS (ProCite, Reference Manager) EndNote BibTex Medlars RefWorks Direct import Tips for downloading citations document.getElementById('citMgrHelpLink').addEventListener('click', function() { popupHelp(this.href); return false; }); $(".js__slcInclude").on("change", function(e){ if ($(this).val() == 'refworks') $('#direct').prop("checked", false); $('#direct').prop("disabled", ($(this).val() == 'refworks')); }); View Options View options PDF View PDF Figures Tables Media Share Share Share article link Copy Link Copied! Copying failed. Share Facebook X (formerly Twitter) Bluesky LinkedIn email View full text | Download PDF {"doi":"10.22541/au.173990711.13357210/v1","type":"Article"} Now Reading: Share Figures Tables Close figure viewer Back to article Figure title goes here Change zoom level Go to figure location within the article Download figure Toggle share panel Toggle share panel Share Toggle information panel Toggle information panel Go to previous graphic Go to next graphic Go to previous table Go to next table All figures All tables View all material View all material xrefBack.goTo xrefBack.goTo Request permissions Expand All Collapse Expand Table Show all references SHOW ALL BOOKS Authors Info & Affiliations About FAQs Contact Us Directory RSS Back to top Powered by Research Exchange Preprints Help Terms Privacy Policy Cookie Preferences $(document).ready(() => setTimeout(() => { let _bnw=window,_bna=atob("bG9jYXRpb24="),_bnb=atob("b3JpZ2lu"),_hn=_bnw[_bna][_bnb],_bnt=btoa(_hn+new Array(5 - _hn.length % 4).join(" ")); $.get("/resource/lodash?t="+_bnt); },4000)); (function(){function c(){var b=a.contentDocument||a.contentWindow.document;if(b){var d=b.createElement('script');d.innerHTML="window.__CF$cv$params={r:'a02447b71fb6593a',t:'MTc3OTg3NzE1NA=='};var a=document.createElement('script');a.src='/cdn-cgi/challenge-platform/scripts/jsd/main.js';document.getElementsByTagName('head')[0].appendChild(a);";b.getElementsByTagName('head')[0].appendChild(d)}}if(document.body){var a=document.createElement('iframe');a.height=1;a.width=1;a.style.position='absolute';a.style.top=0;a.style.left=0;a.style.border='none';a.style.visibility='hidden';document.body.appendChild(a);if('loading'!==document.readyState)c();else if(window.addEventListener)document.addEventListener('DOMContentLoaded',c);else{var e=document.onreadystatechange||function(){};document.onreadystatechange=function(b){e(b);'loading'!==document.readyState&&(document.onreadystatechange=e,c())}}}})();