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The idea behind the control-oriented model of underwater snake robot locomotion is based on the simplified modeling approach presented in [6, 49] for a land-based snake robot.
The paper is organized as follows "A complex model of underwater snake robots" briefly presents the complex model of an underwater snake robot, while the control-oriented model is outlined in "Control-oriented model of underwater snake robots".
The control-oriented model presented in "Control-oriented model of underwater snake robots" is specifically designed to capture this motion through capturing the corresponding translational motion during oscillations.
In particular, in [44] an extensive analysis of the complex model of underwater snake robots described in "A complex model of underwater snake robots" was performed and from this analysis a set of essential properties that characterize the overall motion of the underwater snake robot were derived.
The experimental results were obtained by running experiments with the underwater snake robot Mamba, while the simulation results were obtained by using the complex model of the robot described in "A complex model of underwater snake robots".
Simulation results for the control-oriented model are shown in Figs. 6a and 7a, while Figs. 6b and 7b show simulation results for the complex model presented in "A complex model of underwater snake robots".
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