[1] Sun Hong, Ma Peisun, Wang Guangrong,. Inchworm locomotion gait for snakelike robot [J]. Journal of Southeast University (English Edition), 2007, 23 (4): 556-560. [doi:10.3969/j.issn.1003-7985.2007.04.016]
Copy
Inchworm locomotion gait for snakelike robot(
)
蛇形机器人的一种蠕动步态
)Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]
- Volumn:
- 23
- Issue:
- 2007 4
- Page:
- 556-560
- Research Field:
- Automation
- Publishing date:
- 2007-12-30
Info
- Title:
- Inchworm locomotion gait for snakelike robot
- 蛇形机器人的一种蠕动步态
- Author(s):
- Sun Hong; Ma Peisun; Wang Guangrong
- Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China
- PACS:
- TP242
- DOI:
- 10.3969/j.issn.1003-7985.2007.04.016
- Abstract:
- To establish a universal and easily controlled gait for practical use of snakelike robot movement, an inchworm locomotion gait model based on a serpenoid curve is presented.By analyzing the relations of two adjacent waves in the process of locomotion and doing an approximation of the serpenoid curve, the motion function of relative angles between two adjacent links and the absolute angles between each link and the baseline on the traveling curve are built.Two efficiency criterions of the gait are given as the energy loss function f and the unit displacement in one cycle dunit.Three parameters of the criterions affecting the efficiency of the gait(the number of links that form the traveling wave n, the included angle between two adjacent links α, and the phase difference of adjacent included angles β)are discussed by simulations and experiments.The results show that f is insensitive to n;raising n increases dunit significantly;the maximum wave amplitude of α is a decreasing function of n;and increasing α reduces the displacement influence of f when n is determined.The gait model is suitable for different inchworm locomotions of a snakelike robot whose traveling waves are formed by different numbers of identical links.A wave formed by more links or a greater relative angle between two adjacent links both lead to greater velocity of the movement.
- 为了建立一个可实际应用于蛇形机器人运动的通用且易于控制的步态, 提出了一种基于serpenoid曲线的蠕动步态模型.通过对蠕动运动过程中相邻2个波形的分析和对serpenoid曲线的近似, 建立了运动波形上各相邻连杆间的相对角度运动方程和各连杆与基线之间的绝对角度运动方程.并给出该步态的2个效率判据:能量损失函数f和一个周期的单位步长dunit.通过仿真和实验讨论了相关的3个参数(组成运动波形的连杆数n、相邻连杆的夹角α和相邻夹角的相位差β)对步态效率的影响.结果表明:f基本上不受n的影响, 增加n可显著提高dunit, α的最大振幅随着n的增大而减小, 对于确定的n, f对整个位移的影响随着α的增大而减弱.该步态模型可适用于运动波形由不同连杆数组成的蛇形机器人的蠕动, 波形连杆较多或连杆夹角较大均可获得较大的运动速度.
References:
[1] Nilsson M.Serpentine locomotion on surfaces with uniform friction [C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.Sendai, Japan, 2004:1751-1755.
[2] Chen Li, Wang Yuechao, Ma Shugen, et al.Studies on lateral rolling locomotion of a snake robot[C]//Proceedings of the IEEE International Conference on Robotics and Automation.New Orleans, USA, 2004:5070-5074.
[3] Alessandro C, Andr B, Andr G, et al.AmphiBot Ⅰ:an amphibious snake-like robot [J].Robotics and Autonomous Systems, 2005, 50(4):163-175.
[4] Yamada H, Hirose S.Study on the 3D shape of active cord mechanism[C]//Proceedings of the IEEE International Conference on Robotics and Automation.Orlando, USA, 2006:2890-2895.
[5] Chirikjian G S, Burdick J W.Kinematics of hyper-redundant robot locomotion with applications to grasping [C]//Proceedings of the IEEE International Conference on Robotics and Automation.Sacramento, USA, 1991:720-725.
[6] Burdick J W, Radford J, Chirikjian G S.A sidewinding locomotion gait for hyper-redundant robots [C]//Proceedings of the IEEE International Conference on Robotics and Automation.Atlanta, USA, 1993:101-106.
[7] Liu Hua, Yan Guozheng, Ding Guoqing.Research on the locomotion mechanism of snake-like robot [C]//Proceedings of International Symposium on Micromechatronics and Human Science.Nagoya, Japan, 2001:183-188.
[8] Hirose S.Biologically inspired robots:snake-like locomotions and manipulators [M].Oxford:Oxford University Press, 1993.
[9] Masashi S, Masakazu F, Tetsuya I.Serpentine locomotion with robotic snakes [J].IEEE Control Systems Magazine, 2002, 22(1):64-81.
[10] Hirose S, Mori M.Biologically inspired snake-like robots [C]//Proceedings of the IEEE International Conference on Robotics and Biomimetics.Shenyang, China, 2004:1-7.
Memo
- Memo:
- Biographies: Sun Hong(1972—), female, graduate;Ma Peisun(corresponding author), male, professor, psma@sjtu.edu.cn.