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Snake-worm: A Bi-modal locomotion Robot

Journal of Bionic Engineering 2022年第5期19卷 1272-1287页

作者： Zhouwei Du Hongbin Fang Jian Xu School of Aerospace Engineering and Applied Mechanics Tongji UniversityShanghai 200092China Institute of AI and Robotics Fudan UniversityShanghai 200433China Engineering Research Center of AI and Robotics Ministry of EducationFudan UniversityShanghai 20043China Shanghai Engineering Research Center of AI and Robotics Fudan UniversityShanghai 200433China

Inspired by the morphology characteristics and the locomotion mechanisms of the earthworm,and the snakes’morphology characteristics and motivated by the demands for multi-modal locomotion robots in variable working environments,this paper presents a novel bi-modal robot named as Snake-Worm locomotion Robot(SWL-Robot).Two fundamentally different locomotion mechanisms,the earthworm’s peristaltic rectilinear locomotion and the snake’s lateral undulation,are synthesized in the SWL-Robot *** detail,the SWL-Robot consists of six earthworm-like body segments interconnected by rotational joints and a head segment equipped with a couple of independently driven *** actuating the segments following a peristaltic wave-like gait,the robot as a whole could perform earthworm-like rectilinear *** robot could also perform snake-like undulatory locomotion driven by differential motions of the wheels at the head *** understand the relationship between the design parameters and the robotic locomotion performance,kinematic models of the SWL-Robot corresponding to the two locomotion modes are *** locomotion behaviors of the SWL-Robot are achieved,including the peristaltic locomotion inside a tube,multiple planar motions on a flat surface,and a hybrid motion that switches between the tube and the flat *** shows that the measured trajectories of the SWL-Robot agree well with the theoretical *** SWL-Robot is promising to be implemented in tasks where both tubular and flat environments may be encountered.

关键词： Multi-modal locomotion Peristaltic locomotion planar locomotion Worm-like robot Snake-like robot

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