Trident Snake Robot Motion Simulation in V-Rep
We present a simulation of a trident snake robot motion in two local control models, the original one and its nilpotent approximation. More precisely, we derive the control system from the kinematics of a trident snake robot, calculate its nilpotent approximation and compare these two models by simulating their local motion planning in software V-Rep.
KeywordsNon–holonomic kinematics Local control Snake robot Nilpotent approximation
The first author was supported by a grant of the Czech Science Foundation (GAČR) no. 17–21360S. The second author was supported by a grant no. FSI-S-17-4464.
- 1.Coppelia Robotics: V-REP User Manual. http://www.coppeliarobotics.com/helpFiles/
- 2.Ishikawa, M.: Trident snake robot: locomotion analysis and control. In: IFAC Proceeding Volumes, pp. 895–900 (2004)Google Scholar
- 8.Murray, R.M., Zexiang, L., Sastry, S.S.: A Mathematical Introduction to Robotic Manipulation. CRC Press, Boca Raton (1994)Google Scholar