Gait Generation and Analysis for Snake-like Robots
YU Shumei1,2, MA Shugen1,3, LI Bin1, WANG Yuechao1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China; 3. DeDepartment of Robotics, Ritsumeikan University, Shiga-ken, 525-8577, Japan
Abstract：Based on a simplified Serpenoid curve,and the fact that snake-like robot's three-dimensional motion is combined by both of the motions on the horizontal plane and vertical plane,a three-dimensional snake-like robot gait generation method is proposed.Experiments validate the gaits,meanwhile the relationship between the motion control parameters and the features displayed on the snake-like robot's gaits are found.For the novel gait obtained in the experiments,named helical gait,the snake-like robot's three-dimensional playback is realized through kinematical analysis,and the quantitative relationship between the radius of the helix and the control parameters is deduced based on the geometrical constraints of helical gait.
[1] Gray J.The mechanism of locomotion in snakes[J].Journal of Experimental Biology,1946,23(2):101-120.
[2] Crespi A,Badertscher A,Guignard A,et al.AmphiBot Ⅰ:An amphibious snake-like robot[J].Robotics and Autonomous Systems,2005,50(4):163-175.
[3] Hirose S,Gave P P,Goulden C.Biologically inspired robots:Serpentine locomotors and manipulators[M].Oxford,UK:Oxford University Press,1993.
[4] Chen L,Wang Y C,Ma S G,et al.Studies on lateral rolling locomotion of a snake robot[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2004:5070-5074.
[5] Ye C L,Ma S G,Li B,et al.Turning and side motion of snakelike robot[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2004:5075-5080.
[6] Burdick J W,Radford J,Chirikjian G S.A 'sidewinding' locomotion gait for hyper-redundant robots[J].Advanced Robotics,1995,9(3):195-216.
[7] Haton R L,Choset H.Generating gaits for snake robots:Annealed chain firing and keyframe wave extraction[J].Autonomous Robots,2010,28(3):271-281.
[8] Wright C,Johnson A,Peck A,et al.Design of a modular snake robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2007:2609-2614.
[9] 孙洪,刘立祥,马培荪.攀爬蛇形机器人爬树的静态机理研究[J].机器人,2008,30(2):112-122.Sun H,Liu L X,Ma P S.On the tree-climbing static mechanism of a snake robot climbing trees[J].Robot,2008,30(2):112-122.
[10] Choset H.Modsnake Robot:Media[EB/OL].[2009-12-15].http://www.cs.cmu.edu/～biorobotics/projects/modsnake/neww ebsite/media/index.html.
[11] 熊翔,颜国正,丁国清,等.基于蛇类生物的仿生变体机器人运动学研究[J].光学精密工程,2001,9(4):330-333.Xiong x,Yan G Z,Ding G Q,et al.Research on kinematics of the snake-like robot[J].Optics and Precision Engineering,2001,9(4):330-333.
[12] Ye C L,Ma S G,Li B,et al.Twist-related locomotion of a 3D snake-like robot[C]//IEEE International Conference on Robotics and Biomimetics.Piscataway,N J,USA:IEEE,2004:589-594.
[13] Yu S M,Ma S G,Li B,et al.Locomotion control and gaits' modality of a 3D snake-like robot[C]//SICE Annual Conference.Piscataway,NJ,USA:IEEE,2008:3026-3030.
