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High Technology Letters 2006年第2期12卷 143-149页

作者：叶长龙 Ma Shugen Li Bin Wang Yuechao Jing Tao Shenyang Institute of Aeronautical Engineering Shenyang 110034 P.R. China Robotics laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 P.R. China Faculty of Engineering Ibaraki University Academy of Sciences Hitachi-Shi 316-8511 Japan Graduate School of Chinese Academy of Science Beijing 100039 P. R. China Shenyang Yuanda Group Shenyang 110034 P.R. China

As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion usually limits locomotion capability of the robot because of inadequacy in the mechanism and actuation to imitate characters of natural snake such as the too many DOFs and the characteristics of the muscle. In order to apply snake-like robots to the unstructured environment, the researchers have designed many gaits for increasing the adaptability to a variety of surroundings. The twist-related locomotion is an effective gait achieved by jointly driving the pitching-DOF and yawing-DOF, with which the snakelike robot can move on rough ground and even climb up some obstacles. In dfis paper, the twist-related locomotion function is firstly solved, and simplified to be expressible by sine or cosine function. The 2D locomotion such as V-shape and U-shape is achieved. Also by applying it to the serpentine locomotion or other types of locomotion, the snake-like robot can complete composite locomotion that combines the serpentine locomotion or others with twist-related locomotion. Then we extend the twist-related locomotion to 3D space. Finally, the experimental results are presented to validate all above analyses.

关键词： snake-like robot twist-related locomotion simplified function composite locomotion

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