Study on the Continuous Direction Control for the Snake-like Robot

Direction control is an important part of the study on the snake-like robot. A direction control algorithm which is based on the passive creeping, named continuous direction control, is proposed. This method controls the movement direction of the robot's head by the exponential function of the reference angle amplitude, and makes the body follow the head by adjusting the torque amplitude of the body. The fixed point movements and the fixed direction movements of the snake-like robot are simulated. In simulations, the angles, energy states are revealed, and the errors are analyzed by comparing the moving direction with the expected direction. The simulations demonstrate the validity and veracity of the continuous direction control method.