Fig. 4
From: Studying slippage on pushing applications with snake robots
Norms of motion of the system. The first, second, and third column represent scenario 1, scenario 2, and scenario 3, respectively. A higher value represents more power transmitted to the respective motion. The configuration of the robot is \(\varvec{q}_{s} = \{ 0,0,0,-135^{\circ },-\,135^{\circ }\}\). a Acceleration of the object. b Acceleration of the snake robot. c Slippage ratio. Several values of \(\kappa \) are shown