Study on the optimal passive creeping control of the snake-like robot

Reducing the energy dissipation can improve the movement efficiency of a snake-like robot. Avoiding side slipping is the main way to reduce the energy dissipation. A creeping control method for the snake-like robot, named optimal passive creeping, is proposed. This method makes the robot avoid slipping by inputting the proper torque which is adjusted by its body shape. The purpose of the control method is to insure that the snake-like robot's velocity is the fastest before side slipping. In simulation, the angles, torques, energy states of the snake-like robot are revealed, and whether the snake-like robot has slipped is analyzed by accumulating the energy dissipation. The simulations demonstrate the validity of the optimal passive creeping control method.