Open source code written in MATLAB for the paper Mathematical framework for snake robot motion in a confined space.
Run the script by start.m
The results of snake robot motion are in the matrix X. Position of snake robot CoM is in (N+1)-th and (N+2)-th column of the matrix X.
If you use the framework and want to cite it in a paper please use:
@article{VIRGALA2024, title = {Mathematical framework for snake robot motion in a confined space}, journal = {Applied Mathematical Modelling}, year = {2024}, issn = {0307-904X}, doi = {https://doi.org/10.1016/j.apm.2024.04.020}, url = {https://www.sciencedirect.com/science/article/pii/S0307904X24001719}, author = {Ivan Virgala and Martin Varga and Peter Ján Sinčák and Tomáš Merva and Roman Mykhailyshyn and Michal Kelemen}, keywords = {Control, Friction, Kinematic model, Dynamic model, Optimization, Snake robot} }
or use:
Virgala, I., Varga, M., Sinčák, P. J., Merva, T., Mykhailyshyn, R., & Kelemen, M. (2024). Mathematical framework for snake robot motion in a confined space. Applied Mathematical Modelling. doi:10.1016/j.apm.2024.04.020