Snake Robot Locomotion in Environments With Obstacles

Liljeback P.; Pettersen K. Y.; Stavdahl O.; Gravdahl J. T.

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Snake Robot Locomotion in Environments With Obstacles

机译：有障碍物环境中的蛇机器人运动

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As a step toward enabling snake robots to move in cluttered environments, this paper proposes a control strategy that combines environment adaptation with directional control in order to achieve straight line path following control in environments with obstacles. Moreover, the paper presents the design of a mechanical snake robot with tactile sensing capabilities that allow the robot to sense its environment. Experimental results are presented where the snake robot is successfully propelled through different obstacle environments with the proposed control strategy.

机译：为了使蛇型机器人能够在混乱的环境中移动，本文提出了一种控制策略，该策略将环境自适应与方向控制相结合，以便在有障碍物的环境中实现直线路径跟随控制。此外，本文还介绍了具有触觉感应功能的机械蛇形机器人的设计，该功能使该机器人能够感应其环境。实验结果表明，采用所提出的控制策略，蛇机器人可以成功地通过不同的障碍物环境。

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《Mechatronics, IEEE/ASME Transactions on》 |2012年第6期|p.1158-1169|共12页
作者
Liljeback P.; Pettersen K. Y.; Stavdahl O.; Gravdahl J. T.;
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作者单位

Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), NO-7491 Trondheim, Norway;

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原文格式 PDF
正文语种 eng
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关键词
Contact modeling; force and tactile sensing; underactuated robots;

机译：接触建模;力和触觉感应;欠驱动机器人;

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专利

1. SnakeSIM: a ROS-based control and simulation framework for perception-driven obstacle-aided locomotion of snake robots [J] . Filippo Sanfilippo, Øyvind Stavdahl, Pål Liljebäck Artificial life and robotics . 2018,第4期

机译：SnakeSIM：基于ROS的控制和仿真框架，用于感知驱动的蛇机器人障碍物辅助运动
2. Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities ? [J] . Filippo Sanfilippo, Jon Azpiazu, Giancarlo Marafioti, Applied Sciences . 2017,第4期

机译：蛇机器人的感知驱动的障碍物辅助运动：最新状态，挑战和可能性？
3. Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities ? [J] . Filippo Sanfilippo, Jon Azpiazu, Giancarlo Marafioti, Applied Sciences . 2017,第4期

机译：蛇机器人的感知驱动的障碍物辅助运动：最新状态，挑战和可能性？
4. SnakeSIM: A ROS-based rapid-prototyping framework for perception-driven obstacle-aided locomotion of snake robots [C] . Filippo Sanfilippo, Øyvind Stavdahl, Pål Liljebäck IEEE International Conference on Robotics and Biomimetics . 2017

机译：SnakeSIM：基于ROS的快速原型框架，用于感知驱动的蛇机器人障碍物辅助运动
5. Biomorphic Hyper-Redundant Snake Robot: Design, Prototyping, and Locomotion Performance Demonstration [D] . Bajenov, Alexandr. 2018

机译：生物形态超冗余蛇机器人：设计，原型设计和运动绩效演示
6. Robotic modelling of snake traversing large smooth obstacles reveals stability benefits of body compliance [O] . Qiyuan Fu, Chen Li 2020

机译：蛇穿越大型光滑障碍物的机器人建模揭示了身体顺应性的稳定性
7. Snake Robot Locomotion in Environments With Obstacles [O] . Liljeback Pål, Pettersen Kristin Ytterstad, Stavdahl Øyvind, 2015

机译：有障碍物环境中的蛇机器人运动

Snake Robot Locomotion in Environments With Obstacles

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