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Gaits engineered for snake-like robots to rotate in-place instrumentally filla gap in the set of locomotive gaits that have traditionally prioritizedtranslation. This paper designs a Turn-in-Place gait and demonstrates theability of a shape-centric modeling framework to capture the gait's locomotiveproperties. Shape modeling for turning involves a time-varying continuous bodycurve described by a standing wave. Presumed viscous robot-ground frictionalinteractions lead to body dynamics conditioned on the time-varying shape model.The dynamic equations describing the Turn-in-Place gait are validated by anarticulated snake-like robot using a physics-based simulator and a physicalrobot. The results affirm the shape-centric modeling framework's capacity tomodel a variety of snake-like robot gaits with fundamentally differentbody-ground contact patterns. As an applied demonstration, example locomotionscenarios partner the shape-centric Turn-in-Place gait with a Rectilinear gaitfor maneuvering through constrained environments based on a multi-modallocomotive planning strategy. Unified shape-centric modeling facilitatestrajectory planning and tracking for a snake-like robot to successfullynegotiate non-trivial obstacle configurations.

In-Place Rotation for Enhancing Snake-like Robot Mobility