A geometrical approach to the trajectory planning of a snake-like robot

Bayraktaroglu Z. Y., Butel F., Pasqui V., Blazevic P.

2nd International Conference on Climbing and Walking Robots (CLAWAR 99), Portsmouth, Dominica, 13 - 15 September 1999, pp.851-856 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Portsmouth
  • Country: Dominica
  • Page Numbers: pp.851-856
  • Istanbul Technical University Affiliated: No


The paper looks at the path planning concepts of a robot based on a snake. The essential feature of the snake considered here is a vertbrated column that allows the necessary undulations to be performed so that there are sufficient contact points with the ground to enable forward locomotion by lateral motions of the body.