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Gait Generation Method of Snake Robot Based on Main Characteristic Curve Fitting
Chaoquan Tang1, Lulu Sun1, Gongbo Zhou1
1Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China.
Biomimetics (Basel, Switzerland)
|March 28, 2023
Summary
A new Main Characteristics Control (MCC) method unifies snake robot gaits by simplifying control functions. This approach extracts key backbone curve features, enabling smoother transitions between serpentine, rolling, and sidewinding gaits.
Area of Science:
- Robotics
- Control Systems
- Biomimetics
Background:
- Snake robot motion control relies heavily on gait generation.
- Existing methods require complex programming for diverse gaits and transformations.
- A unified approach is needed to simplify control and enable smooth gait switching.
Purpose of the Study:
- To propose a novel, unified gait expression method for snake robots.
- To simplify the complex control functions associated with various snake robot gaits.
- To enhance gait switching capabilities and kinematic modeling accuracy.
Main Methods:
- Introduction of the Main Characteristics Control (MCC) method.
- Extraction of main features from snake robot backbone curves.
- Reconstruction of gaits (serpentine, rolling, helix rolling, crawler) using MCC.
- Proposal of an AEH-sidewinding gait control method based on MCC.
Main Results:
- The MCC method simplifies and unifies control functions for different snake robot gaits.
- Reconstruction of multiple gaits demonstrates the method's versatility.
- The AEH-sidewinding gait shows improved kinematic modeling accuracy.
- Experimental validation confirms the effectiveness of the proposed methods.
Conclusions:
- The proposed MCC method offers a unified and simplified approach to snake robot gait generation.
- This unified expression facilitates smoother transitions between various snake robot gaits.
- The AEH-sidewinding gait improves modeling accuracy, advancing snake robot locomotion research.
