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Twist-related locomotion of a snake-like robot

机译：蛇形机器人的扭曲相关运动

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摘要

As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion usually limits locomotion capability of the robot because of inadequacy in the mechanism and actuation to imitate characters of natural snake such as the too many DOFs and the characteristics of the muscle. In order to apply snake-like robots to the unstructured environment, the researchers have designed many gaits for increasing the adaptability to a variety of surroundings. The twist-related locomotion is an effective gait achieved by jointly driving the pitching-DOF and yawing-DOF, with which the snake-like robot can move on rough ground and even climb up some obstacles. In this paper, the twist-related locomotion function is firstly solved, and simplified to be expressible by sine or cosine function. The 2D locomotion such as V-shape and U-shape is achieyed. Also by applying it to the serpentine locomotion or other types of locomotion, the snake-like robot can complete composite locomotion that combines the serpentine locomotion or others with twist-related locomotion. Then we extend the twist-related locomotion to 3D space. Finally, the experimental results are presented to validate all above analyses.
机译：作为超冗余机器人，类似于蛇的3D机器人可以执行许多其他配置和类型的运动以适应环境。由于模仿天然蛇的特征（例如，过多的自由度和肌肉特征）的机制和驱动力不足，天然蛇的运动通常会限制机器人的运动能力。为了将蛇形机器人应用于非结构化环境，研究人员设计了许多步态，以增加对各种环境的适应性。与扭曲有关的运动是通过联合驱动俯仰自由度和偏航自由度来实现的有效步态，通过这种方式，蛇形机器人可以在崎ground不平的地面上移动甚至爬上一些障碍物。本文首先解决了与扭转有关的运动函数，并将其简化为可通过正弦或余弦函数表示。实现了诸如V形和U形的二维运动。同样，通过将其应用于蛇形运动或其他类型的运动，类似蛇的机器人可以完成将蛇形运动或其他与扭曲相关的运动相结合的复合运动。然后，将与扭曲相关的运动扩展到3D空间。最后，提出了实验结果以验证上述所有分析。

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