A controllability criterion based on a physical analogy: Limbless locomotion and object grasping in robotics

Bayraktaroglu Z. Y., BLAZEVIC P.

ROBOTICA, vol.22, pp.493-503, 2004 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 22
  • Publication Date: 2004
  • Doi Number: 10.1017/s0363574704000244
  • Journal Name: ROBOTICA
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.493-503
  • Istanbul Technical University Affiliated: Yes


This paper deals with the controllability of biologically inspired snake-like mechanisms. Motion equations of the generic snake-like mechanism and investigations on its controllability lead to extremely complicated mathematical representations. The authors establish a physical analogy between the undulatory snake locomotion and object grasping. Based on this analogy, they propose a controllability criterion concerning the motion of the mobile mechanism. Results of dynamic simulations of the controlled system systematically point to the validity of the analogy-based controllability criterion. The purpose of this work is to achieve an understanding of the undulatory motion which constitutes the basis of a biologically motivated experimental setup.