Analysis of traveling wave locomotion of snake robot
Analysis of traveling wave locomotion of snake robot
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DOI：
10.1109/rissp.2003.1285601
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
陈丽;王越超;马书根;李斌
中科院分区：
文献类型：
--
作者：
陈丽;王越超;马书根;李斌
分析了蛇形机器人的行波运动机理。建立了可重构蛇形机器人的运动学模型，并对其控制策略进行了改进。结果表明，在一个周期内，根据与支撑面接触的关节数，可将运动分为4个阶段，由接触关节摩擦力的合力产生运动。改进后的控制方法可以形成更平滑的身体曲线，并产生加速或减速运动。实验结果表明，采用行波运动的机器人能够实现前进、后退和转弯，特别是能够在狭窄场地和局部非结构化环境中运动。最大线速度为0.04 m/s，地毯上可爬斜面坡度为20 °，可穿越缝隙最大宽度为0.14 m，可穿越管道最小直径为0.06 m。
The mechanism of traveling wave locomotion of a snake robot was analyzed in the paper. Its kinemics model was founded and a modified control strategy was conducted in a reconfigurable snake robot. The results shows that in one period the locomotion can be divided into four phases according to the number of joints contacting with the supporting plane, and the resultant force of the friction forces on contacting joints generates locomotion. The modified control method can form smoother body curve and generate the accelerated or decelerated locomotion. Experimental results show that using traveling wave locomotion the robot is able to go forward and backward, and turn around, especially can move in a narrow site and some partial unstructured environments. The maximum linear velocity that can obtain is 0.04 m/s, the slope of the inclined plane that can be climbed is 20degrees on a carpet, the maximum wideness of gap that can be crossed is 0.14 m, and the minimum diameter of the pipe that can be gone through is 0.06 m.