Abstract
Robot that uses body-propulsion like the snake can moves in the weak grounds and bad environments. We focused the movement method imitated sidewinding that the snake living in desert, used to move across loose or slippery grounds. The track of the movement of the unit in the cross section that is parallel to movement direction when sidewinding, becomes like elliptic cylinder. The motion of sidewinding can be described as rolling of cylinder. Using this theory, we suggested the method of analyze the track of the snake robot movement, and measured the movement distance in experimentation. As a result, theoretical values agreed well with actual measurements. This theoretical calculation can increase its accuracy by considering the effect of slipping and inertia.
