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.

• 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
• Contract Date: Feb 27, 2019