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A preliminary review on metrics for modular snake robots locomotion

机译：模块化蛇形机器人运动指标的初步回顾

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摘要

Without changing its mechanical structure, a modular snake robot (MSR) can move using different gaits. In order to evaluate their locomotion, different metrics according to specific research goals have been developed in the last decades. However, there is a lack of homogeneity in the use of these metrics between robot types and the tasks executed. In this paper, a set of metrics is presented. These metrics were divided in performance and efficiency metrics to capture such characteristics in a MSR. Related work on metrics for this kind of robots was reviewed in detail. A description of each metric was provided. Friction coefficients, translational speed, orientation of the velocity vector and a stability margin, define the first set of metrics aimed to measuring the robot's performance. On the other hand, energy efficiency, mechanical energy efficiency and dissipated power conform the set of efficiency metrics. Hence, a metric framework for MSR's locomotion was presented. The use of this framework is oriented to spatial motion of modular snake robots.
机译：在不改变其机械结构的情况下，模块化蛇形机器人（MSR）可以使用不同的步态移动。为了评估它们的运动，在过去的几十年中已经开发出了根据特定研究目标的不同指标。但是，在机器人类型和执行的任务之间使用这些度量标准时缺乏一致性。在本文中，提出了一组指标。将这些指标划分为性能和效率指标，以捕获MSR中的此类特征。详细介绍了有关此类机器人的指标的相关工作。提供了每个指标的描述。摩擦系数，平移速度，速度矢量的方向和稳定性裕度定义了旨在测量机器人性能的第一组度量标准。另一方面，能效，机械能效和耗散功率符合效率指标集。因此，提出了用于MSR运动的度量框架。该框架的使用面向模块化蛇形机器人的空间运动。

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