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Dynamic Analysis of Three Snake Robot Gaits

机译：三种蛇形机器人步态的动力学分析

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摘要

In the present paper, a dynamic analysis is presented, comparing three snake-like robot gaits: lateral undulation, sidewinding locomotion, and sinus-lifting motion. To simplify calculations, sidewinding locomotion and sinus-lifting motion are considered planar movements. Vertical movements are assumed to be small but play a critical role in change where contacts are made. Thus, the normal forces acting on grounded links and the torques applied to pitch joints can be calculated by solving equilibrium equations. The tradeoff between locomotion speed and energy efficiency is studied for all three gaits, at eight different environmental settings distinguished by friction coefficients. Simulation results reveal that sinus-lifting motion and sidewinding locomotion are generally more energy-efficient gaits than is lateral undulation. More specifically, if the anisotropy in friction is large enough, sinus-lifting motion is the most energy-efficient gait; otherwise, sidewinding locomotion is more efficient. However, there are some critical speeds at which the most efficient gait changes, in some environmental settings.
机译：在本文中，提出了一种动力学分析，比较了三种蛇形机器人的步态：侧向起伏，侧向缠绕运动和鼻窦抬高运动。为了简化计算，将侧绕运动和窦举运动视为平面运动。假定垂直运动很小，但在建立联系的变化中起关键作用。因此，可以通过求解平衡方程来计算作用在接地连杆上的法向力和施加在变距接头上的扭矩。在以摩擦系数区分的八个不同环境设置下，研究了所有三种步态的运动速度与能量效率之间的权衡。仿真结果表明，与横向起伏相比，窦举运动和侧向运动通常更节能。更具体地说，如果摩擦的各向异性足够大，则窦举运动是最节能的步态。否则，回避运动会更有效。但是，在某些环境设置中，最有效的步态有一些关键的变化速度。

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