In this paper, for the first time, kinematics modelling of snake robot travelling with concertina locomotion is presented. Next a novel kinematics modelling method is presented which has an advantage of allowing natural snake like locomotion. During concertina motion, certain parts of the body contract, expand or do not change their shape. This results into having different body curves for different parts of a snake. To simulate this, first we introduce a mathematical equation, called dynamic function, in which by varying a certain function parameter, body curve during motion is realized. To obtain concertina gait, the snake body is divided into three different modules, head module, tail module and main body module that connects the head to the tail module. Each module forms a specific curve which can be modelled using the proposed dynamic function. At each moment during snake locomotion, the kinematics of different links can be derived by fitting links to the body curve. Finally concertina locomotion is simulated using Webots software. Results indicate concertina locomotion can be obtained. Furthermore, the proposed dynamic function requires relatively lower computation requirement. Therefore, adaption of body curve to other real snake like gaits as well as mixed type locomotion is made possible. This works represents a first approach to a simulation of a snake-like mechanism in order to get basic characteristics of such locomotion and to enable our future research.

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