Study on the motion control of snake-like robots on land and in water

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• 作者：Zhenli Lu^a ; ^b ; ^d ; ^{zhenlilu@cslg.cn" class="auth_mail" title="E-mail the corresponding author} ; Dayu Feng^a ; ^{fengdayu@126.com" class="auth_mail" title="E-mail the corresponding author} ; Yafei Xie^a ; ^c ; ^{yfx@126.com" class="auth_mail" title="E-mail the corresponding author} ; Huigang Xu^a ; ^{xuhuigang@cslg.cn" class="auth_mail" title="E-mail the corresponding author} ; Limin Mao^a ; ^{lmm@163.com" class="auth_mail" title="E-mail the corresponding author} ; Changkao Shan^a ; ^{shanchangkao@cslg.cn" class="auth_mail" title="E-mail the corresponding author} ; Bin Li^b ; ^{libin@sia.cn" class="auth_mail" title="E-mail the corresponding author} ; Petr Bilik^e ; ^{petr.bilik@vsb.cz" class="auth_mail" title="E-mail the corresponding author} ; Jan Zidek^e ; ^{jan.zidek@vsb.cz" class="auth_mail" title="E-mail the corresponding author} ; Radek Martinek^e ; ^{radek.martinek@vsb.cz" class="auth_mail" title="E-mail the corresponding author} ; Zdenek Rykala^f ; ^{zdenek.rykala@elcom.cn" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Snake-like robot ; Motion control ; Serpentince locomotion ; Swimming motion
• 刊名：Perspectives in Science
• 出版年：2016
• 出版时间：March 2016
• 年：2016
• 卷：7
• 期：Complete
• 页码：101-108
• 全文大小：2542 K

文摘

In order to fully use the advantage of legless body and rhythmic gaits to realize the inspection task, the snake-like robots and dynamic simulators are developed with components available online and open source software. The Serpenoid Curve formula is adopted to generate the joint rhythm of snake-like robot to realize serpentine locomotion. The serpentine locomotion of snake-like robots on land and in water is studied in details with experiments. This work wishes to provide the technical solution for researchers from different institutes to show the performance of the designed algorithm comparing to the other works and for the practical applications of snake-like robots in the near future.