Snake Robot Locomotion From Experimental Robotics Theories of
SnakeBot Locomotion Julian’s Locomotion Theory (JLT) Starting
with the basics, a servo alone can either move up or down.
Figure 4.1.1. With three servos we can create a triangular shape
(figure 4.1.2). This configuration takes up less room than three
servos lying flat on the ground. This is the key in allowing the
Snakebot to move forward. The difference between the flat snake
and the triangular formation is d. This d is in fact our
distance gain. Following from figure 4.1.3, the action of
lifting B produces a pull F1 and opposite pull F2. If the
properties (i.e: mass & friction) of servos A and C are equal,
then both are going to be pulled horizontally towards servo B by
d/2. When both servos A & C are pulled, the Snakebot doesn’t
move forward. The aim is to anchor servo C so to drag servo A
the entire distance d as shown in the perfect scenario of figure
4.1.2. In reality, if servo A was the tail and C being the set
of servos reaching to the head