Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments
Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments
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DOI：
10.1109/tro.2021.3063438
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发表时间：
2021-10-01
影响因子：
7.8
通讯作者：
Matsuno, Fumitoshi
中科院分区：
文献类型：
--
作者：
Takemori, Tatsuya;Tanaka, Motoyasu;Matsuno, Fumitoshi
蛇形机器人可以做各种各样的动作。为了在复杂的环境中实现广泛的功能，需要在适合于每个环境的各种运动之间进行转换。在本文中，我们提出了一种方法，过渡到不同的环境中的蛇机器人的运动，以扩大机器人的应用环境。我们首先发现，在运动过渡过程中，在两个运动之间的连接点的运动必须符合切向运动跨越不同的环境。然后我们设计了一种称为圆形踏板波的步态。该圆形踏板波允许通过箍运动，其中整个身体移动，就好像它通过与所提出的移位部分组合而从其头部依次穿过固定在空间中的虚拟箍一样。通过环运动允许在不同环境中进行运动转换。我们提出了三个应用程序的例子，这种箍通过议案，即通过一个洞在墙上，进入地板下，并附加到梯子。我们报告进行实验，以验证所提出的方法的有效性，并实现所描述的运动。
A snake robot performs diverse motions. To realize a wide range functions in a complex environment, it is necessary to transition between various motions suited to each environment. In this article, we propose a method of transitioning the motion of a snake robot across different environments to expand the application environment of the robot. We first find that the motion at the connection point between two motions must coincide with the tangential movement during motion transition across different environments. We then design a gait called the circular pedal wave. This circular pedal wave allows a hoop-passing motion in which the whole body moves as if it is passing through a virtual hoop fixed in space in sequence from its head through combination with a proposed shift part. The hoop-passing motion allows motion transition across different environments. We propose three application examples of this hoop-passing motion, namely passing through a hole in a wall, entering an underfloor, and attaching to a ladder. We report on experiments conducted to verify the effectiveness of the proposed method and to realize the described motions.