Sine-Wave Locomotion in a Robotic Snake Model Form and Programming

Mark W. Sherman

Mathematical phenomena displayed by biological life can be useful considerations when trying to reproduce aesthetically pleasing patterns of locomotion. Specific to this project was the study, design and construction of a robotic snake while trying to preserve the mechanism of movement that allows the biological snake to move along a selected path. Mathematical expressions for the serpentine movement of a living snake clarified and formed the basis for the translation from biological to robot. With the addition of sensory abilities, the robot can interact with its environment, and finally a user interface allows interaction with the robot.


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