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Passive joint control of a snake robot by rolling motion

机译：通过滚动运动的蛇机器人的被动联合控制

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摘要

Snake robots are capable of adapting to difficult situations, such as cluttered environments, using its many degrees of freedom. However, if one of the joints gets passive, it is generally very difficult to achieve ordinary performance. In this paper, control of a passive joint using rolling motion is considered, with the use of crawler gait in mind. Crawler gait is a state-of-the-art motion pattern for snake robots that is capable of moving on uneven terrain, but if there is a passive joint, the motion can be interrupted by freely moving part of the robot itself. As a key to solving this difficulty, this paper proposes to use the rolling motion, which has not been used in controlling a passive joint. A simplified model is proposed to consider the control, and based on this, one simple controller is adopted. The validity of the idea of using rolling motion is tested by numerical simulations.
机译：蛇机器人能够适应困难的情况，例如杂乱的环境，使用其许多自由度。但是，如果其中一个关节获得被动，那么难以实现普通的性能。在本文中，考虑了使用爬行运动员的使用轧制运动来控制无源关节。履带步态是一种最先进的运动模式，适用于能够在不均匀的地形上移动的蛇机器人的最先进的运动模式，但是如果存在被动接头，则可以通过自由地移动机器人本身来中断运动。作为解决这种困难的关键，本文提出使用轧制运动，该轧制运动未被用于控制被动接头。提出了一种简化的模型来考虑控制，并基于此，采用一个简单的控制器。使用数值模拟测试使用轧制运动的思想的有效性。

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  • 来源
    《Artificial life and robotics》 |2020年第4期|503-512|共10页
  • 作者

    Ryo Ariizumi; Kentaro Koshio; Motoyasu Tanaka; Fumitoshi Matsuno;

  • 作者单位

    Department of Mechanical Systems Engineering Graduate School of Engineering Nagoya University Nagoya 464-8603 Japan;

    Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Kyoto 606-8501 Japan;

    Department of Mechanical and Intelligent Systems Engineering Graduate School of Information Science and Engineering The University of Electro-Communications Tokyo 182-8585 Japan;

    Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Kyoto 606-8501 Japan;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Actuator malfunction; Snake robot; Passive joint;

    机译：执行器故障;蛇机器人;被动的联合;

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