Research on Motion Planning of Snake-Like Robot Based on the Interpolation Function

机译：基于插值函数的蛇形机器人运动计划研究

获取原文

页面导航

摘要
著录项
相似文献
相关主题

摘要

In this paper, we assemble an 8-joint snake-like robot with steering gears based on the truss structure model. And we have a trajectory simulation of each joint, which the Snake-like robot moves from the original gait to target gait in the matlab/robotics toolbox. According to the simulation result, we put forward polynomial interpolation function to plan the joint trajectory of snake robot. The results indicate the effectiveness of interpolation in motion planning and well solve motion incoherent problem of the snake robot.

机译：在本文中，我们基于桁架结构模型组装了带有转向器的8关节蛇形机器人。而且，我们对每个关节进行了轨迹模拟，类似Snake的机器人在matlab / robotics工具箱中从原始步态移动到目标步态。根据仿真结果，提出了多项式插值函数来规划蛇形机器人的关节轨迹。结果表明插值在运动计划中的有效性，很好地解决了蛇形机器人运动不连贯的问题。

著录项

来源
《International Conference on Intelligent Human-Machine Systems and Cybernetics》|2016年|81-84|共4页
会议地点
作者
Shiqiang Geng; Shuhua Peng; Yanxiao Han;
展开▼
作者单位

展开▼
会议组织
原文格式 PDF
正文语种
中图分类
关键词
Trajectory; Interpolation; Robot kinematics; Planning; Mobile robots; Service robots;

机译：轨迹;插值;机器人运动学;规划;移动机器人;服务机器人;

相似文献

外文文献
中文文献
专利

1. Analysis of twisting mode of locomotion and GA based motion planning for transition of locomotion modes of 3-dimensional snake-like robot [J] . Tetsushi Kamegawa, Fumitoshi Matsuno 日本ロボット学会誌 . 2003,第5期

机译：运动的扭曲模式和基于GA的运动计划用于3维蛇形机器人运动模式转换的分析
2. Analysis of twisting mode of locomotion and GA based motion planning for transition of locomotion modes of 3-dimensional snake-like robot [J] . Tetsushi Kamegawa, Fumitoshi Matsuno 日本ロボット学会誌 . 2003,第5期

机译：三维蛇形机器人运动运动方式转换的运动速度和GA运动规划的分析
3. Motion Planning Algorithm of a Multi-Joint Snake-Like Robot Based on Improved Serpenoid Curve [J] . Li Dongfang, Wang Chao, Deng Hongbin, Quality Control, Transactions . 2020,第期

机译：基于改进的Serpenoid曲线的多关节蛇状机器人运动规划算法
4. Research on Motion Planning of Snake-Like Robot Based on the Interpolation Function [C] . Shiqiang Geng, Shuhua Peng, Yanxiao Han International Conference on Intelligent Human-Machine Systems and Cybernetics . 2016

机译：基于插值函数的蛇状机器人运动规划研究
5. Motion Planning and Control of Autonomous Mobile Robots: Model Based and Model Free Methods [D] . Fahad, Muhammad . 2019

机译：自主移动机器人的运动规划与控制：基于模型和模型免费方法
6. A study of snake-like locomotion through the analysis of a flexible robot model [O] . Giancarlo Cicconofri, Antonio DeSimone -1

机译：通过柔性机器人模型分析蛇形运动
7. Analysis of Twisting Mode of Locomotion and GA based Motion Planning for Transition of Locomotion Modes of 3-Dimensional Snake-like Robot [O] . Tetsushi Kamegawa, Fumitoshi Matsuno 2003

机译：三维蛇状机器人运动机置模式转换的运动运动扭曲模式分析
8. Genetic-Based Motion Planning for Articulated Robotic Manipulators [R] . Chan, K. K., Zalzala, A. M. S. 1993

机译：基于遗传算法的铰接式机器人运动规划

Research on Motion Planning of Snake-Like Robot Based on the Interpolation Function

摘要

著录项

相似文献

相关主题

期刊订阅