This paper proposes Gait Decomposition (G.D), a method of mathematically decomposing snake movements, and Gait Parameter Gradient (GPG), a method of optimizing decomposed gait parameters. G.D is a method that can express the snake gait mathematically and concisely from generating movement using the curve function to the motor control order when generating movement of snake robot. Through this method, the gait of the snake robot can be intuitively classified into a matrix, as well as flexibly adjusting the parameters of the curve function required for gait generation. This can solve the problem that parameter tuning, which is the reason why it is difficult for a snake robot to practical use, is difficult. Therefore, if this G.D is applied to snake robots, various gaits can be generated with a few of parameters, so snake robots can be used in many fields. We also implemented the GPG algorithm to optimize the gait curve function as well as define the gait of the snake robot through G.D.

翻译：本文提出Gait Decomposition(G.D),这是一种数学分解蛇体运动的方法,Gait Parameter Gradient(GGG),一种优化分解的行进参数的方法。G.D是一种能够以数学和简洁的方式表达蛇步动的方法,在生成蛇体机器人时,通过曲线函数生成动作到运动控制顺序。通过这种方法,蛇体机器人的动作可以直观地分类为矩阵,并灵活调整动作生成游戏所需的曲线函数参数参数。这可以解决参数调控的问题,这是蛇体机器人难以实际使用的原因。因此,如果将蛇体机器人应用到蛇体机器人中,那么可以用几个参数生成各种牙片,这样蛇体机器人可以在许多领域使用。我们还实施了GPG算法,以优化组合曲线功能,并通过 G.D 定义蛇体机器人的格。