Efficiency on Snake Locomotion with Constant and Variable Bending Angles
Date Issued
2008
Date
2008
Author(s)
Chang, Kai-Hsiang
Abstract
Recently, robotics has become an important research in various domains, and bio-mimetic is a very interesting part of robotics. Bio-mimetic gains its popularity in many different fields. It is interesting to find the rules of the world and applying in engineering. In nature, different locomotion is used by many different animals. The snake crawling motion is studied in this thesis to understand its locomotion principles and the difference to adapt the change of environment.he thesis consists of two parts. The first one is to take the image data from snake videos, and the second part is to analyze the trend of motion in different environment. From our observations, the swing of snake’s forward part is smaller than the other part when snake serpentines. The swings of snake’s body are not the same when snake serpentines on different ground. It means snakes get enough forward force from the middle part of body, the forward part of snake explores the environment, and the tail of snake just follow the body curve.he proposed work of the thesis is to study the serpentine movement of snakes and the change of movement in different environments. When a snake-like robot moves with varying bending angle amplitudes, it has higher speed and consumes lower power. It could be applied the advantages of snakes in engineering field.
Subjects
snake locomotion
serpentine movement
snake-like robot
Type
thesis
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