Gait fitting for snake robots with binary actuators

Thanks to the special physical architectures and various locomotion gaits, snake robots may offer significant benefits over tra- ditional legged or wheeled locomotion designs in vast types of scenarios. This paper proposes an innovative snake robot with digitally-actuated Stewart platforms as its modules and mainly focuses on the simulations of various snake gaits. Three catego- ries of fitting algorithms are elaborated in simulations of lateral undulation and Configuration-Fitting Algorithm of Four Mod- ules is demonstrated as a universal gait fitting algorithm for all kinds of snake robots with binary actuators. Several typical snake gaits are simulated and the results demonstrate the excellent mobility of the snake robot.