@inproceedings{c23b73663cc74721b7bdbc669e7b8e7a,
title = "Bond graph modelling and simulation of planar snake robot with lateral undulation gait",
abstract = "The different locomotion gaits and physiology of biological snakes make them extremely adaptable to a given environment. The robustness and stability of snake locomotion is due to large degree of freedom. This makes biommicing its locomotion extremely difficult as the system becomes nonlinear, leading to complexities in design and control. The objective of this paper is to model a snake like robot and simulate lateral undulation gait using bond graph technique. The bond graph technique only requires kinematics of the model and derives the dynamics itself. The snake robot modelled here has nine links giving it eleven degrees of freedom. Results from the simulation are further discussed.",
keywords = "Biommic robot, Bond graph modelling, Gait, Locomotion, Nonlinear system, Planar Model",
author = "G. Bhandari and Pathak, {P. M.} and Yang, {J. M.}",
note = "Publisher Copyright: {\textcopyright} 2018 Copyright held by the owner/author(s).ACM; 2019 Conference on Advances in Robotics, AIR 2019 ; Conference date: 02-07-2019 Through 06-07-2019",
year = "2019",
month = jul,
day = "2",
doi = "10.1145/3352593.3352676",
language = "English",
series = "ACM International Conference Proceeding Series",
publisher = "Association for Computing Machinery",
booktitle = "Proceedings of the Advances in Robotics 2019, AIR 2019",
}