Study on spiral winding swimming motion control of a slender legless creature model

Through the observation and analysis of the motion trajectory of spiral winding motion for slen-der legless biological creatures in water,V-REP software is adopted to build a dynamic simulator to study on the mechanism of spiral winding swimming (SWS) motion.By using the output of spiral function(SF),the dynamic simulation model of slender legless creature (SLC) realizes the SWS motion in water.The corresponding experiments under the control of different bending angle of SF to control the dynamic model are also carried out to analyze the water performance of SWS in still wa-ter.Combined with the output of two different bending angles of the spiral function,the dynamic model can be used to realize SWS and up/down motion.This work provides technical reserve and experimental platform for the corresponding study in related fields.