Locomotion control of a novel snake-like robot
Locomotion control of a novel snake-like robot
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DOI：
10.1109/iros.2004.1389471
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发表时间：
2004-09
期刊：
影响因子：
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通讯作者：
C. Ye;Shugen Ma;Bin Li;Yuechao Wang
中科院分区：
文献类型：
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作者：
C. Ye;Shugen Ma;Bin Li;Yuechao Wang
蛇形机器人的关节机构设计对于具有更强的机动性、无奇点性和强大的致动性是非常必要的。通过在新设计的3自由度关节机构周长上增加一系列被动轮，使蛇形机器人具有全向机构的特性，可以通过崎岖的地形，弥补被动轮造成的作动不足。分析了系统的非完整约束和运动学以及冗余度。针对机器人的运动和避免奇点问题，提出了组合运动控制方法和分组交替运动控制方法。同时，分组交替运动为天然蛇的窦举运动提供了新的解释。计算机仿真验证了机构的机动性和控制方法的有效性。
It is essential to design a joint mechanism for snake-like robots to exhibit more mobility, no singularity and powerful actuation for many applications. By adding a series of passive wheels to the perimeter of the newly designed joint mechanism with 3 DOFs, a snake-like robot provided with the characteristic of omnidirectional mechanism can traverse rough terrain and compensate the lack of actuation due to passive wheels. The nonholonomic constraints and kinematics are analyzed as well as the redundancy. The composite motion method and grouping alternation motion control method are thus proposed for the locomotion of robot and the avoidance of singularity. Also, the grouping alternation motion adds a new explanation to the sinus lifting locomotion of natural snake. Computer simulations validate both mobility of mechanism and effectiveness of control methods.