This paper presents our work on analysis of helical gait for snake-like robots. Although helical gait of snakelike robots was realized before, there is no any intensive investigation about the relationship between its performance and the control parameter settings. In this paper, we firstly introduce our SIA snake-like robot and its helical gait equations, then derive the snake-like robot's body shape which is used for control, finally perform some comparative experiments to pursue the characteristics of the helical gait.
Yu SM,Ma SG,Li B,et al. Analysis of Helical Gait of a Snake-like Robot[C]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics. XIan, China. July 2-5, 2008.Analysis of Helical Gait of a Snake-like Robot.