Design and Realize a Snake-Like Robot in Complex Environment

Abstract

Aiming at high performance requirements of snake-like robots under complex environment, we present a control system of our proposed design which utilizes a STM32 as the core processor and incorporates real-time image acquisition, multisensor fusion, and wireless communication technology. We use Solidworks to optimize the design of head, body, and tail joint structure of the snake-like robot. The system is a real-time system with a simple-circuit structure and multidegrees of freedom are attributed to the flawless design of control system and mechanical structure. We propose a control method based on our simplified CPG model. Meanwhile, we improve Serpenoid control function and then investigate how different parameters affect the motion gait in terms of ADAMS emulation. Finally, experimental results show that the snake-like robot can tackle challenging problems including multi-information acquisition and processing, multigait stability, and autonomous motion and further verify the reliability and accuracy of the system in our combinatory experiments.

Energy-Efficient Gait Optimization of Snake-Like Modular Robots by Using Multiobjective Reinforcement Learning and a Fuzzy Inference System

“…A module generally includes actuators to assist in shape-changing, and locomotion [1]. New modules can be autonomously attached to or detached from MRs [2] to form a distinctive morphology that makes MRs self-reconfigurable [3].…”

“…Among the various MRs, snake-like MRs have gathered attention due to their flexibility and applicability in situations where the human presence can be critical, such as military stealth operations, space exploration, and underwater inspection [2]. Often, these robots encounter situations where an MR may need to change gaits for locomotion at different stages.…”

Investigation of Aerodynamic Stability of a Lightweight Dual‐Arm Power Transmission Line Inspection Robot under the Influence of Wind

“…However, the stability of Expliner is not guaranteed due to its complex maneuvers during automation. Other types of climbing PTLIRs include the line-walking mechanism [15,16], three-arm prototype [17,18], four-arm POLIBOT [19], five-arm structure [20,21], and snake-like mechanism [22,23], among others. However, most of the existing climbing PTLIRs are either heavy or relatively large and can easily be affected by external wind.…”

Projeto De Mecanismo, Análise Cinemática E Dinâmica De Um Manipulador Robótico Acionado Por Junta Cardânica Ativa Com Três Graus De Liberdade

“…Os robôs manipuladores são compostos principalmente por conectores links e juntas joints. Alguns trabalhos consistem em desenvolver novas juntas joints de dois ou três graus de liberdade para permitir que o robô manipulador atinja a área de trabalho workspace desejada com o menor número de juntas possível, assemelhando-se, muitas vezes, aos movimentos de juntas existentes na natureza em seres vivos, como, por exemplo: peixes (AKPOLAT, BINGÖL, et al, 2017), cobras (LIU, LIU, et al, 2019) (UM, WANG, et al, 2017, quadrúpedes (BHATTACHARYA, SINGLA, et al, 2019) (MUTLU, HAUSER, et al, 2018 e aves (SREEDHAR, PAVAN, et al, 2019).…”

“…Outra aplicação foi feita por Akpolat et al (2017), que desenvolveram um modelamento energético -Lagrangeano de uma junta ativa para um peixe robótico juntamente com o desenvolvimento do modelo do mecanismo feito pelo pacote SimMechanism/MATLAB (AKPOLAT, BINGÖL, et al, 2017). Nas simulações de cobras: Um et al (2017) desenvolveram um robô-cobra combinando diversas juntas para obter o movimento, no entanto cada junta está limitada apenas a um grau de liberdade (UM, WANG, et al, 2017), algo que foi melhorado em 2019 por Liu et al, quando projetaram e desenvolveram um robô-cobra snake-robot, propondo uma junta/módulo com dois graus de liberdade controlado por motores de passo (LIU, LIU, et al, 2019). O experimento focou apenas no controle do movimento e não explorou a dinâmica dos corpos rígidos envolvidos.…”