Snake-Like Robot with Fusion Gait for High Environmental Adaptability: Design, Modeling, and Experiment

Self Cite

Most of the current snake-like robots can only work in a specific environment, or only have a good movement effect in a certain gait. This paper presents a design for a snake-like robot to improve the adaptability of various environments. Each standard module of the snake-like robot has three degrees of freedom: yawing, rolling, and telescoping. The envelope passive wheels are used to enable the robot to move in complex environments such as a narrow passage. We verified some simple movements such as serpentine movement and rectilinear movement and designed a method for recovering from rollover when the robot is in straight state. In addition, two novel gaits, obstacle-aided concertina gait, and obstacle-aided gait through narrow corner, are proposed in this paper. We demonstrated the feasibility for passing the narrow corner by these gaits in experiments.

Section: Obstacle-aided Concertina Gaitmentioning

confidence: 99%

“…In order to test the efficiency of the gaits which have been implemented in our previous research, serpentine and rectilinear gaits are performed. The control and set positions are the same with [32].…”

Section: Verification Of Gaitsmentioning

confidence: 99%

A Snake-Like Robot with Envelope Wheels and Obstacle-Aided Gaits

Wang

Shan

et al. 2019

Self Cite

“…Connecting the i P j and the i P j+1 , the i l j can be determined. Equation (11) and (12) provide us with the solution of roll, pitch and yaw angles. However, it is significant to determine their rotating sequences, which are also illustrated in Figure 8.…”

Section: Coordinate System and Angle-solving Algorithmmentioning

confidence: 99%

“…Snake robots' common motion modes include serpentine [3,4], traveling wave [5,6], concertina [7,8], and sidewinding [9,10] locomotion. Additionally, some researchers sought to find other motion modes such as fusion gait [11] and obstacle-aided locomotion [12]. However, these motion modes provide limited visual information.…”

Section: Introductionmentioning

confidence: 99%

Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method

Zhang

Liu

et al. 2018

A snake robot has to raise its head to acquire a wide visual space for planning complex tasks such as inspecting unknown environments, tracking a flying object and acting as a manipulator with its raising part. However, only a few researchers currently focus on analyzing the head-raising motion of snake robots. Thus, a predefined spiral curve method is proposed for the head-raising motion of such robots. First, the expression of the predefined spiral curve is designed. Second, with the curve and a line segments model of a snake robot, a shape-fitting algorithm is developed for constraining the robot’s macro shape. Third, the coordinate system of the line segments model of the robot is established. Then, phase-shifting and angle-solving algorithms are developed to obtain the angle sequences of roll, pitch, and yaw during the head-raising motion. Finally, the head-raising motion is simulated using the angle sequences to validate the feasibility of this method.

“…Guan et al [13] desinged a biped modular robot with climbing capacity to replace workers in high risk environments. Wang et al [14] presented a novel solution for the problem of multi-gaits for snake-like robots. Jiang et al [15] designed a double claw modular biomimetic robot with climbing and operating functions for aerial work in agriculture, forestry, architecture, and other fields.…”

Section: Introductionmentioning

confidence: 99%

Grasping Claws of Bionic Climbing Robot for Rough Wall Surface: Modeling and Analysis

Jiang

Fei

2017

Aiming at the inspection of rough stone and concrete wall surfaces, a grasping module of cross-arranged claw is designed. It can attach onto rough wall surfaces by hooking or grasping walls. First, based on the interaction mechanism of hooks and rough wall surfaces, the hook structures in claw tips are developed. Then, the size of the hook tip is calculated and the failure mode is analyzed. The effectiveness and reliability of the mechanism are verified through simulation and finite element analysis. Afterwards, the prototype of the grasping module of claw is established to carry out grasping experiment on vibrating walls. Finally, the experimental results demonstrate that the proposed cross-arranged claw is able to stably grasp static wall surfaces and perform well in grasping vibrating walls, with certain anti-rollover capability. This research lays a foundation for future researches on wall climbing robots with vibrating rough wall surfaces.