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：本文提出步态分解（Gait Decomposition，G.D）——一种对蛇类运动进行数学分解的方法，以及步态参数梯度（Gait Parameter Gradient，GPG）——一种优化分解后步态参数的方法。G.D能够从基于曲线函数生成运动到蛇形机器人运动生成过程中的电机控制指令，以简洁的数学形式表达蛇形步态。通过该方法，蛇形机器人的步态可直观地分类为矩阵形式，并灵活调整步态生成所需的曲线函数参数。这解决了参数整定困难的问题——该问题正是蛇形机器人难以实际应用的原因。因此，将G.D应用于蛇形机器人后，可通过少量参数生成多种步态，从而拓展其在众多领域的应用潜力。此外，我们实现了GPG算法以优化步态曲线函数，并通过G.D定义了蛇形机器人的步态特征。