Dynamical Modeling and Gait Optimization of a 2-D Modular Snake Robot in a Confined Space

K.H.J. Classens, M.A.J. Koopaee, Christopher Pretty, Siep Weiland, Xiao Qi Chen

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)
68 Downloads (Pure)


A model-based optimal gait is obtained for the 2-D locomotion of a modular snake robot in a duct. Optimality is considered in the sense of traveling as fast as possible or traveling with minimal energy consumption. The novelty of the work lies in the development of a framework to cast the full dynamic behavior, including contact constraints with simple objects, into an optimization problem which allows for gait parameter, control parameter and/or physical parameter optimization. Optimal gait and control parameters are found via a surrogate optimization procedure which reveals optimal locomotion strategies depending on the duct width and optimization criteria. The framework is tested and illustrated with a number of optimizations of 2-D locomotion of a snake robot where either traveling time or energy consumption is minimized.
Original languageEnglish
Pages (from-to)9754–9759
Number of pages6
Issue number2
Publication statusPublished - 2020
Event21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress) - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020
Conference number: 21


  • Dynamic modeling
  • Global optimization
  • Model-based control
  • Snake robot


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