Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method

Applied Sciences

Xiaobo Zhang¹  Jinguo Liu¹  Zhaojie Ju¹  Chenguang Yang² 

[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea SA1 8EN, UK;

关键词: snake robots;    head-raising;    shape-fitting;    phase-shifting;    spiral curve;   

DOI  :  10.3390/app8112011

来源: DOAJ

【 摘 要 】

A snake robot has to raise its head to acquire a wide visual space for planning complex tasks such as inspecting unknown environments, tracking a flying object and acting as a manipulator with its raising part. However, only a few researchers currently focus on analyzing the head-raising motion of snake robots. Thus, a predefined spiral curve method is proposed for the head-raising motion of such robots. First, the expression of the predefined spiral curve is designed. Second, with the curve and a line segments model of a snake robot, a shape-fitting algorithm is developed for constraining the robot’s macro shape. Third, the coordinate system of the line segments model of the robot is established. Then, phase-shifting and angle-solving algorithms are developed to obtain the angle sequences of roll, pitch, and yaw during the head-raising motion. Finally, the head-raising motion is simulated using the angle sequences to validate the feasibility of this method.

【 授权许可】

Unknown