Gait planning of a scale-driven snake-like robot for winding and obstacle crossing

Abstract

Gait planning is an effective approach aiming at the difficulty in locomotion control of a multi-degree-of-freedom snakelike robot. In this article, a gait-generating method is presented with regard to the issue of its locomotion control in the process of winding-crossing variable-diameter cylindrical obstacles involving a P-R-joint scale-driven snake-like robot. The proposed method solves the problem of trajectory discontinuity of variable-diameter helix lines through linear fitting in the process of the obstacle crossing of the robot. The collision/interference between the robot and the obstacle is avoided by adding an extended helix segment to the front and rear ends of the obstacle. For direct linear fitting of the locomotion trajectory curve that will lead to velocity discontinuity, B-spline curves are used for smooth transition on generating the trajectory curve. A simulation experiment analysis is performed to demonstrate that the proposed gaitgenerating method can enable the snake-like robot to cross variable-diameter cylindrical obstacles.

Operation Motion Planning and Principle Prototype Design of Four-Wheel-Driven Mobile Robot for High-Voltage Double-Split Transmission Lines

“…erefore, Pouliot et al and Wang et al [8,9] show that the spacer bar is installed at a certain distance between the gears, which can restrain not only the gears vibration but also the breeze vibration. However, Ngo et al, Sun et al, Lu et al, and Li et al [10][11][12][13], respectively, proposed the factors such as breeze, ice, rain, and snow can cause the displacement and corrosion of spacer bars.…”

“…Jiang et al [18] proposed a basic configuration of drainage plate tightening robot and developed a physical prototype. Wang et al [9] proposed a wire repair robot which can realize the function of wire repair. Most of these robots only face single-split conductors and cannot accommodate multisplit conductor operation.…”

Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables

“…Control functions are often used for trajectory planning of snake-like robots on high-voltage cables [6]. The traditional snake-like robot gait control formula does not consider the independence of different parts.…”