Simulation research on turning motion of underwater snake-like robots

Abstract

© 2017, Executive Office of the Journal. All right reserved. Snake swimming locomotion in barrier environments is observed, and a snake-like robot model adaptable to underwater swimming is established by using the dynamics simulation software of V-REP, and then, its turning swimming performance is studied. According to the serpenoid curve, the turning swimming modes of phase adjustment, center factor adjustment and amplitude adjustment are generated. The advantages and disadvantages of each mode are analyzed and compared for providing the technical reserves and feasibility verification for snake-like robots' actual underwater turning swimming.