Reconstruction of Backbone Curves for Snake Robots
Reconstruction of Backbone Curves for Snake Robots
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DOI：
10.1109/lra.2021.3062331
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发表时间：
2021-04-01
影响因子：
5.2
通讯作者：
Choset, Howie
中科院分区：
文献类型：
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作者：
Wang, Tianyu;Lin, Bo;Choset, Howie
由交替单轴俯仰和偏航关节组成的蛇形机器人具有许多内部自由度，这使得它们能够进行多功能的三维运动。在运动规划过程中，蛇形机器人的运动通常是通过按时间顺序排列的连续主干曲线来设计的，这些曲线捕获了机器人所需的宏观形状。然而，由于单轴旋转关节的几何布置对机器人的旋转产生了限制，因此机器人重建任意3D曲线具有挑战性。当机器人配置没有准确地实现由这些主干曲线限定的期望形状时，机器人可能与环境发生意外接触，使得机器人无法实现期望的运动。在这项工作中，我们提出了一种蛇形机器人通过提出利用机器人几何结构的优化问题来重建所需主干曲线的方法。我们验证了我们的方法通过应用于常用的 3D 步态能够实现快速、准确的曲线配置转换。我们还通过机器人实验证明：1）我们的方法可以使机器人平稳运动； 2）我们的方法允许机器人接近一系列连续主干曲线的数值预测机车性能。
Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often designed kinematically by a chronological sequence of continuous backbone curves that capture desired macroscopic shapes of the robot. However, as the geometric arrangement of single-axis rotary joints creates constraints on the rotations in the robot, it is challenging for the robot to reconstruct an arbitrary 3D curve. When the robot configuration does not accurately achieve the desired shapes defined by these backbone curves, the robot can have unexpected contacts with the environment, such that the robot does not achieve the desired motion. In this work, we propose a method for snake robots to reconstruct desired backbone curves by posing an optimization problem that exploits the robot's geometric structure. We verified that our method enables fast and accurate curve-configuration conversions through its applications to commonly used 3D gaits. We also demonstrated via robot experiments that 1) our method results in smooth locomotion on the robot; 2) our method allows the robot to approach the numerically predicted locomotive performance of a sequence of continuous backbone curve.