Dynamic Analysis of Three Snake Robot Gaits
Dynamic Analysis of Three Snake Robot Gaits
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DOI：
10.1109/tro.2017.2704581
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发表时间：
2017-10-01
影响因子：
7.8
通讯作者：
Matsuno, Fumitoshi
中科院分区：
文献类型：
--
作者：
Ariizumi, Ryo;Matsuno, Fumitoshi
在本文中，动力学分析，比较三个蛇形机器人步态：横向波动，侧绕运动，正弦升降运动。为了简化计算，侧绕运动和正弦提升运动被认为是平面运动。垂直移动被认为是很小的，但在接触的变化中起着关键作用。因此，作用在接地连杆上的法向力和作用在俯仰接头上的扭矩可以通过求解平衡方程来计算。研究了所有三种步态在八种不同环境设置（按摩擦系数区分）下的运动速度和能源效率之间的权衡。仿真结果表明，正弦升降运动和侧绕运动通常是更节能的步态比横向波动。更具体地说，如果摩擦的各向异性足够大，正弦提升运动是最节能的步态;否则，侧绕运动更有效。然而，在某些环境设置中，存在一些最有效的步态变化的临界速度。
In the present paper, a dynamic analysis is presented, comparing three snake-like robot gaits: lateral undulation, sidewinding locomotion, and sinus-lifting motion. To simplify calculations, sidewinding locomotion and sinus-lifting motion are considered planar movements. Vertical movements are assumed to be small but play a critical role in change where contacts are made. Thus, the normal forces acting on grounded links and the torques applied to pitch joints can be calculated by solving equilibrium equations. The tradeoff between locomotion speed and energy efficiency is studied for all three gaits, at eight different environmental settings distinguished by friction coefficients. Simulation results reveal that sinus-lifting motion and sidewinding locomotion are generally more energy-efficient gaits than is lateral undulation. More specifically, if the anisotropy in friction is large enough, sinus-lifting motion is the most energy-efficient gait; otherwise, sidewinding locomotion is more efficient. However, there are some critical speeds at which the most efficient gait changes, in some environmental settings.