Energy plays an important role in the serpentine locomotion of a snake-like robot. The energy dissipation describes the environmental interaction; the energy transformation reflects the locomotion dynamics; the energy balance relates to the locomotion coordination. An energy-based control method for a snake-like robot, named passive creeping,is proposed. This method controls the robot by using torque inputs which are adjusted by the robot's energy state. In simulation, the configurations, angles, torques, energy states, and turning characteristics are revealed, and the torque data are analyzed by using a recurrence plot. Based on an Optotrak motion capture system, a virtual/physical mixed experimental system is constructed. A locomotion experiment and a drag experiment are performed. The former changes the environment, and the latter alters the payload. The simulations and experiments demonstrate the validity and adaptability of the passive creeping.%能量作为最基本的物理量之一,联系着蛇形机器人蜿蜒运动的各个方面.能量耗散描述了环境交互作用,能量转换对应着运动的动力学过程,能量平衡反映了蜿蜒运动的协调性.提出一种基于能量的蛇形机器人蜿蜒运动控制方法-被动蜿蜒.通过输出关节力矩控制机器人蜿蜒运动,由机器人的能量状态调整力矩的大小.仿真结果显示了被动婉蜒控制下机器人的构形、角度、力矩、能量状态和转弯特性,并对控制力矩进行了递归分析.基于Optotrak运动测量系统构建了被动蜿蜒控制的模拟/物理混合实验系统.进行了移动实验和拖动实验,前者改变环境的摩擦特性,后者改变机器人的负载.仿真和实验验证了蛇形机器人被动蜿蜒控制的有效性和适应性.
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