Abstract:We propose a method of climbing pipe with different diameter, which enables snake robot to divide itself into 3 parts to complete transition on the pipe according to the joints’ state for now. To avoid controlling the robot from building dynamic model, a gait-based open-loop control framework is adopted. An extended kalman filter (EKF) is applied here to estimate the adaptive parameter of gait-based function for different 3 parts and corresponding joints. The adaptive parameter will help snake robot perceive t… Show more
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.