Traversing Between Two Planes Using Obstacle-Aided Locomotion of a Snake Robot

被引：0

作者：

Yoshida, Y. ^{[1
]}

Chin, C. W. ^{[1
]}

Tanaka, M. ^{[1
]}

机构：

[1] Univ Electrocommun, Dept Mech & Intelligent Syst Engn, Tokyo 1828585, Japan

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2024年 / 9卷 / 11期

关键词：

Robots; Snake robots; Shape; Mobile robots; Force; Wheels; Windings; Field robots; search and rescue robots; biologically-inspired robots;

D O I：

10.1109/LRA.2024.3468154

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This letter proposes two types of connecting parts for the obstacle-aided locomotion of a non-wheeled snake robot to move between two planes. One method involves lifting the robot's head vertically, while the other method involves winding around an obstacle to avoid toppling over when moving to a higher plane. The operator can adjust the height and directions by changing the parameters of the connecting part to enable the robot to move on unknown two non-parallel planes. We confirmed the effectiveness of our method through experiments.

引用

页码：10288 / 10294

页数：7