Kinematic and dynamic description of non-standard snake-like locomotion systems
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- 作者：Carsten Behn ; carsten.behn@tu-ilmenau.de" class="auth_mail" title="E-mail the corresponding author ; Leo Heinz ; Martin Krü ; ger
- 关键词：Snake-like locomotion systems ; Kinematic theory ; Rotatable skids ; Undulatory locomotion ; Spikes
- 刊名：Mechatronics
- 出版年：2016
- 出版时间：August 2016
- 年：2016
- 卷：37
- 期：Complete
- 页码：1-11
- 全文大小：1666 K
文摘
The paper deals with terrestrial locomotion systems. Worms and snakes are living paragons for the development of biological inspired crawling robots. We set up certain models of worm- and snake-like locomotion systems and present purely analytical investigations in this paper. We try to follow an analytical framework, i.e., analyzing kinematics at first. Later on, we switch to dynamics and control of these models, to get hints for a technical development. The systems are modeled as chains of mass points. The mass points are interconnected via massless links with time-varying link-length. In contrast to the literature, the snake systems exhibit passive joints, but active links and rotatable skids. The combination of shape variation (via active links) together with the ground contact (via ideal spikes guaranteeing a one-sided velocity restriction) results in a global movement of the systems — undulatory locomotion. In dynamics, these link functions should be adjusted via, e.g., a force actuator between each mass point. Because it is impossible to determine a-priori these force outputs generating a desired gait, we apply an adaptive controller which adjusts these force outputs on-line on its own and λ-tracks a certain gait to achieve a movement of the whole system.