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Simplified Motion Modeling for Snake Robots
We present a general method of estimating a snake robot's motion over flat ground using only knowledge of the robot's shape changes over time. Estimating world motion of snake robots is often difficult because of the complex way a robot's cyclic shape changes (gaits) interact with the surrounding environment. By using the virtual chassis to separate the robot's internal shape changes from its external motions through the world, we are able to construct a motion model based on the differentialdoi:10.1184/r1/6560888.v1 fatcat:4lo3llfecbbipoaemvrbkkjqwe