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Snake climbing by wedging

Snake climbing by wedging. One Climbing method: Repeat: (1) Wedge bottom (2) Extend (3) Wedge top (4) Contract. 2-link wedge. Full Snake. Dynamics of 2-link Wedge. (at zero velocity). Lagrange EOM. Contact-Coordinate Relation. Friction Cone. Complementarity Conditions.

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Snake climbing by wedging

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  1. Snake climbing by wedging One Climbing method: Repeat: (1) Wedge bottom (2) Extend (3) Wedge top (4) Contract 2-link wedge Full Snake

  2. Dynamics of 2-link Wedge (at zero velocity) Lagrange EOM Contact-Coordinate Relation Friction Cone Complementarity Conditions Goal: The 2-link wedge should remain stationary while climbing Step 1: Enumerate feasible contact modes Step 2: Solve equations using contact mode assumptions Step 3: Check consistency of solutions with assumptions and constraints.

  3. t C.O.M. Position Solutions of 2-link Wedge Dynamics Mode Stick-Stick-Stick Eqn: Soln: Consistency: Solutions functions of joint torque, c.o.m. location Choose joint torque so Stick-Stick-Stick only possibility for the entire range of c.o.m locations Good torque choice Stick-Stick-Stick Mode

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