Xiaobo Zhang
Head-raising of snake robots based on a predefined spiral curve method
Zhang, Xiaobo; Liu, Jinguo; Ju, Zhaojie; Yang, Chenguang
Abstract
© 2018 by the authors. 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.
Citation
Zhang, X., Liu, J., Ju, Z., & Yang, C. (2018). Head-raising of snake robots based on a predefined spiral curve method. Applied Sciences, 8(11), 2011. https://doi.org/10.3390/app8112011
Journal Article Type | Article |
---|---|
Acceptance Date | Jul 10, 2018 |
Online Publication Date | Oct 23, 2018 |
Publication Date | Oct 23, 2018 |
Deposit Date | Feb 27, 2019 |
Publicly Available Date | Feb 27, 2019 |
Journal | Applied Sciences (Switzerland) |
Electronic ISSN | 2076-3417 |
Publisher | MDPI |
Peer Reviewed | Peer Reviewed |
Volume | 8 |
Issue | 11 |
Pages | 2011 |
DOI | https://doi.org/10.3390/app8112011 |
Public URL | https://uwe-repository.worktribe.com/output/858451 |
Publisher URL | http://doi.org/10.3390/app8112011 |
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