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A snake robot is a typical example of robots with redundant degree of freedom. Using input-output linearization for only movement of the head of a robot, we can control the head speed as a desired one, but eventually the robot will come to a singular posture like a straight line. In order to overcome the problem, a control with dynamic manipulability was proposed. In this paper, we propose a control technique in which a physical index of horizontal constraint force is used, and a control law for head configuration. By using these, the winding pattern with which the robot can avoid the singular posture is generated automatically and head converges to the target.

Control of Locomotion and Head Configuration for 3D Snake Robot