Obstacle-Aided Locomotion of a Snake Robot Using Piecewise Helixes
Obstacle-Aided Locomotion of a Snake Robot Using Piecewise Helixes
复制标题
使用分段螺旋的蛇形机器人的障碍辅助运动
DOI：
10.1109/lra.2022.3194689
复制
发表时间：
2022
影响因子：
5.2
通讯作者：
Tanaka Motoyasu
中科院分区：
文献类型：
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作者：
Takanashi Takuro;Nakajima Mizuki;Takemori Tatsuya;Tanaka Motoyasu
一个无轮的蛇形机器人可以通过推动障碍物来推动自己。这就是所谓的障碍辅助运动。为了使用该方法扩大蛇形机器人的探索范围，优选地利用既在地面上又在侧面或上方的障碍物。为了实现这些目标，我们提出了一个障碍辅助运动使用分段螺旋。该目标形状包括接地部分和障碍物接触部分。接地部分的长度和形状可以从直线变为圆弧。障碍物接触部分的高度可以改变或其方向可以反转。机器人可以通过适当改变其身体形状来适应各种障碍物。此外，我们提出了一个蛇机器人运动在平地上使用相同的形状用于障碍物辅助运动。这涉及换档控制和滚动运动的组合。机器人可以在一条直线上向前或横向方向移动，或者可以使用所提出的方法在一个圆弧。最后，实验证实了所提出的方法的有效性。
A non-wheeled snake robot can propel itself by pushing against obstacles. This is called obstacle-aided locomotion. To expand the exploration range of a snake robot using this method, it is preferable to utilize obstacles that are both on the ground and by the side or above. To achieve these goals, we propose an obstacle-aided locomotion using piecewise helixes. This target shape comprises grounding and obstacle-contacting parts. The length and shape of the grounding part can be changed from a straight line to a circular arc. The height of the obstacle-contacting part can be changed or its direction can be reversed. The robot can adapt to various obstacles by appropriately changing its body shape. In addition, we propose a snake robot locomotion in a flat ground using the same shape as that used for obstacle-aided locomotion. This involves a combination of shift control and rolling motion. The robot can move in a straight line in the forward or lateral direction or can turn in a circular arc using the proposed method. Finally, experiments that confirm the effectiveness of the proposed method are presented.