Design of Pipe Crawling Gaits for a Snake Robot

被引：7

作者：

Maneewarn, Thavida ^{[1
]}

Maneechai, Boonlert ^{[1
]}

机构：

[1] King Mongkuts Univ Technol, Inst Field Robot, Bangkok, Thailand

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4 | 2009年

关键词：

Snake robot; Locomotion; Gait design; Pipe Inspection;

D O I：

10.1109/ROBIO.2009.4912970

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This research aims to study the parameters that contribute to the crawling performance of the snake robot inside an inclined pipe. The shape and motion propagation of the snake robot directly affect the forward crawling speed of the robot inside a pipe. Motion shape code is proposed as the simplified method for describing shape of a modular snake robot. The motion propagation can be created by shifting the code to the adjacent joint. Five different motion shapes were tested on the 12-joints modular snake robot that moved inside a pipe with varied inclined angles. The experimental results showed that the motion shape that has the maximum number of waves along the robot length and the largest basis angle resulted in the fastest forward crawling speed.

引用

页码：1 / 6

页数：6

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