Study on Propulsion of a Snake Robot with Torque Propagation Based on Modified Curvature Derivatives

In this paper, the idea of using torque propagation for robot propulsion is modified and v a lidated. The curvature derivatives formula is modified by u sing a logarithmic correction function and adding a motor viscous friction losses compensation term to improve the mobility and stability of the robot. This experiment uses ODE (Open Dynamics Engine) as the physical engine to observe the locomotion of the robot in a simulation environment to verify the effectiveness of the algorithm. We conduct several sets of experiments and compare the proportional gain of the new algorithm. The results show that a larger proportionate gain can effectively improve the mobility of the robot, but the excess gain can lead to system oscillation and reduce the stability of the system.