Dynamical Modeling and Control of Modular Snake Robots with Series Elastic Actuators for Pedal Wave Locomotion on Uneven Terrain
M. J. Koopaee, C. Pretty, K. Classens, and X. Chen, Journal of Mechanical Design, 2020 Abstract: This paper introduces the equations of motion of modular 2D snake robots moving in the vertical plane employing Series Elastic Actuators (SEAs). The kinematics of such 2D modular snake robot is presented in an Read more…