ABSTRACT
This chapter treats robot kinematics in a mathematically advanced manner: the control of a snake robot is presented based on differential kinematics. It summarizes the results of the papers [47], [45] and [46]. In contrast to Chapt. 9, it models links based on point pairs. Snake robot model. https://s3-euw1-ap-pe-df-pch-content-public-p.s3.eu-west-1.amazonaws.com/9781315152172/05b92b15-682a-4737-aabb-5365e4b7c38b/content/fig14_1_B.tif"/>
