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

16 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)
Pages (from-to)10980-10987
Number of pages8
JournalIEEE Transactions on Cybernetics
Issue number10
StatePublished - Oct 1 2022

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
  • Adaptive path following
  • direction control
  • optimization
  • snake-like robot


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