A New Method for Precision of a Serpentine Snake-Like Robot
In this paper, a planar snake-like robot travelling in serpentine locomotion is considered. A method is presented where structural and gait control parameters are used to obtain the minimum snake-robot positional error, geometrical error. Two structural parameters, length and mass of each link as well as two control parameters, initial winding angle (α0) and arc length (s) are considered. Each of the four input parameters is examined at five different levels. The method uses Taguchi experimental techniques and analyzes effects of uncertainties by means of adding noise to the robot parameters. Significance of the input parameters is also determined using Analysis of Variance.
S. Sarrafan and A. Akbarzadeh, "A New Method for Precision of a Serpentine Snake-Like Robot", Applied Mechanics and Materials, Vol. 232, pp. 377-382, 2012