Simulation and experimental study of an energy-based control method for the serpentine locomotion of a snake-like robot

被引：6
|
作者：
Wang Z.-F. [1 ,3 ]
Ma S.-G. [1 ,2 ]
Li B. [1 ]
Wang Y.-C. [1 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
[2] Department of Robotics, Ritsumeikan University
[3] Graduate University of Chinese Academy of Sciences
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2011年 / 37卷 / 05期
关键词：
Adaptability; Energy; Motion capture system; Serpentine locomotion; Snake-like robot;
D O I：
10.3724/SP.J.1004.2011.00604
中图分类号：
学科分类号：
摘要：
Energy plays an important role in the serpentine locomotion of a snake-like robot. The energy dissipation describes the environmental interaction; the energy transformation reflects the locomotion dynamics; the energy balance relates to the locomotion coordination. An energy-based control method for a snake-like robot, named passive creeping, is proposed. This method controls the robot by using torque inputs which are adjusted by the robot's energy state. In simulation, the configurations, angles, torques, energy states, and turning characteristics are revealed, and the torque data are analyzed by using a recurrence plot. Based on an Optotrak motion capture system, a virtual/physical mixed experimental system is constructed. A locomotion experiment and a drag experiment are performed. The former changes the environment, and the latter alters the payload. The simulations and experiments demonstrate the validity and adaptability of the passive creeping. Copyright © 2011 Acta Automatica Sinica.
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收藏
页码：604 / 614
页数：10
相关论文
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