Mechanical Designs for Field Undulatory Locomotion by a Wheeled Snake-Like Robot With Decoupled Neural Oscillators

Yasuhiro Fukuoka; Kotaro Otaka; Ryo TakeuchiKaito ShigemoriKousuke Inoue

首页> 外文期刊>IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society >Mechanical Designs for Field Undulatory Locomotion by a Wheeled Snake-Like Robot With Decoupled Neural Oscillators

【24h】

Mechanical Designs for Field Undulatory Locomotion by a Wheeled Snake-Like Robot With Decoupled Neural Oscillators

机译：Mechanical Designs for Field Undulatory Locomotion by a Wheeled Snake-Like Robot With Decoupled Neural Oscillators

获取原文

获取原文并翻译 | 示例

获取外文期刊封面封底 >>

开具论文收录证明 >>

文献代查 >>

页面导航

摘要
著录项
相关主题

摘要

In this article, we demonstrate the value of using decoupled neural oscillators in conjunction with appropriate mechanical designs for snake-like robots engaging in field locomotion. Even though our typical wheeled snake robot with decoupled neural oscillators incorporating angle joint feedback can generate consistent lateral undulation, it lacks robustness. A purely decoupled actuation strategy is not practical for field locomotion. However, the application of one-way wheels and elasticity between the modules improves robustness, allowing our robot to traverse outdoor open terrain. On the other hand, the physical form of the undulatory motion must be varied to pass through intricate narrow-field environments. The lack of neural constraints between the modules passively enables this variability and also facilitates each module independently gaining propulsion (i.e., by means of reflexive thrust via sensory feedback to the neural oscillator and one-way traction generated by one-way side rollers). The designed robot is able to engage in fast creeping motion through an environment containing randomly distributed logs. The results of the field experiments show that the specially designed mechanisms in conjunction with decoupled oscillators can enhance robustness, variability, and independent local propulsion.

著录项

来源
《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2023年第2期|959-977|共19页
作者
Yasuhiro Fukuoka; Kotaro Otaka; Ryo TakeuchiKaito ShigemoriKousuke Inoue;
展开▼
作者单位

Graduate School of Science and Engineering, Ibaraki University, Ibaraki, Japan;

Bitkey, Inc., Chuo-ku, Tokyo, Japan;

Anritsu Corporation, Atsugi-shi, JapanOUTSOURCING TECHNOLOGY, Inc., Tokyo, Japan;

展开▼
收录信息
原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Robots; Oscillators; Mobile robots; Wheels; Robot sensing systems; Snake robots; Robot kinematics;

Mechanical Designs for Field Undulatory Locomotion by a Wheeled Snake-Like Robot With Decoupled Neural Oscillators

摘要

著录项

相关主题

期刊订阅