Geometric Algebra Modeling of Snake-like Robot Serpentine Locomotion: Preliminary study

This study analyses and simulates a snake robot's locomotion in complex environments, exploring the impact of serpentine gait parameters like magnitude, shape, and curvature on its motion in linear and circular gaits. The research reveals how small errors in the approximation process can accumulate, significantly affecting the robot's path. Ninety-six scenarios are tested to validate the model and demonstrate that CoppeliaSim's simulations closely match Maple's numerical simulations, especially for longer snakes. The study highlights the minimal role of wheel positions in altering the trajectory and underscores the significance of design parameters and friction in the robot's motion. This comprehensive analysis enhances our understanding of snake robot locomotion and informs their development for diverse applications.