Direction Control and Adaptive Path Following of 3-D Snake-Like Robot Motion

Zhengcai Cao, Dong Zhang, Meng Chu Zhou

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


This work investigates direction control and path following of a 3-D snake-like robot. In order to control such robots accurately, this work researches the relationships between its phase offsets of pitch joints and directions. A new direction control method is proposed for the robot based on these relationships. An adaptive path-following algorithm based on the line-of-sight guidance law is proposed and combined with the direction control method to steer the robot to move forward and along desired paths. Simulation and experimental results are presented to demonstrate the performances of the proposed 3-D model and control methods. They well outperform the classical and commonly used path-following method.

Original languageEnglish (US)
JournalIEEE Transactions on Cybernetics
StateAccepted/In press - 2021
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


  • 3-D motion
  • Adaptation models
  • Adaptive path following
  • Computational modeling
  • Mathematical model
  • Mobile robots
  • Robots
  • Snake robots
  • Trajectory
  • direction control
  • optimization
  • snake-like robot


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