蛇形机器人的扭转运动研究

Twist-related Locomotion of a Snake-like Robot

通过扭转运动,蛇形机器人能够在粗糙的地面运动,甚至可以翻越一些障碍物。对扭转运动进行了运动学解析,提出了实现扭转运动的简化输入模型。实现了蛇形机器人二维平面内的U形和V形扭转运动,并将扭转运动与其他运动方式结合,实现蛇形机器人的复合运动方式。通过实验验证了所提出的简化模型的有效性。

The twist-related locomotion function was firstly solved, and simplified to be expressed by sine or cosine functions. The 2D locomotion such as V-shape and U-shape was achieved. Integrating serpentine locomotion or other types of locomotion, the snake-like robot can complete composite locomotion that combines the serpentine locomotion or others with twist-related locomotion. Finally, the experimental results are presented to validate all above analyses.