Final Design

Snake Robot Final Design

Shape Control Forward Kinematics:

Kinematic Model

𝚷 = bending plane 𝛳 = in-plane actuation angle 𝜙 = whole-plane actuation angle

p = flexible arc distal end p* = rigid link distal end C = circle center point

s = arc length l = rigid link length r = circle radius

Shape Control Simulation

Physical Design:

Drawing:

Software Implementation:

Performance:

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