Motion Control Curve of Snake-like Robot Based on Centroid Stability

To improve the stability of underwater motion of snake-like robot with uneven body mass distribution, based on the principle of centroid stability, by improving the Serpenoid curve, a motion control curve for snake-like robot with uneven body mass distribution is obtained. Firstly, the function of the improved motion control curve is obtained from the centroid equation of the snake-like robot in its motion process. Then, the lateral force of the snake-like robot is analyzed, and the condition equation of zero lateral resultant force is obtained. Finally, the uneven distribution of multi-rigid body and body mass is pointed out. The snake-like robot is simulated and compared with the Serpenoid curve and the improved motion curve. Finally, the underwater motion of the snake-like robot with multi-rigid body structure and uneven mass distribution is simulated, and the simulation results of the Serpenoid curve and the improved motion curve are compared. The results show that in the case of uneven mass distribution of the multi-rigid body snake-like robot, the improved motion control curve can significantly reduce the swing of the centroid perpendicular to the motion direction and improve the stability of the the snakelike robot during the underwater serpenite motion.