Direction control of a snake robot using amplitude modulation

This paper presents the solution to the direction control problem of a snake robot using the amplitude modulation method. The amplitude modulation method described a way of controlling the joint angle amplitudes independently to maintain direction, instead of controlling the joint angle amplitudes to the same value as implemented in the literature using the joint offset angle method. The amplitude modulation method control the joint angles amplitude based on the friction forces produced. Hence, since different environments would result in different friction forces experienced by the robot links, then it follows that the solution to the direction control problem would take form of the amplitude modulation.