Realization of cylinder climbing locomotion with helical form by a snake robot with passive wheels
Realization of cylinder climbing locomotion with helical form by a snake robot with passive wheels
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DOI：
10.1109/robot.2009.5152862
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发表时间：
2009-05
期刊：
影响因子：
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通讯作者：
T. Kamegawa;Takaaki Harada;A. Gofuku
中科院分区：
文献类型：
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作者：
T. Kamegawa;Takaaki Harada;A. Gofuku
近年来，蛇类机器人实现了蛇的多种运动步态。然而，以往的运动步态主要局限在二维平面上。在本研究中，我们将几个单元串联在一起，制作了一个可以在三维空间中移动的蛇机器人。每个单元由一个俯仰轴和一个偏航轴组合而成，可以有两个被动车轮。实现了以前实现的基本运动步态和简单的圆柱攀爬运动。此外，我们还利用数学连续体模型实现了蛇形机器人螺旋形的圆柱体攀爬运动。
Recently, multiple locomotion gaits of snake have been realized by snake robots. However, previous locomotion gaits are mainly limited on two-dimensional plane. In this study, we make a snake robot that can move in three-dimensional space by connecting several units serially. The each unit is composed by assembling one pitch axis and one yaw axis, and it can have two passive wheels. We realize previously achieved basic locomotion gaits and simple cylinder climbing locomotion. In addition, we also realize cylinder climbing locomotion with helical form by the snake robot using mathematical continuum model.