Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method | |
Zhang XB(张晓波)1,2,3; Liu JG(刘金国)1,2; Yang, Chenguang5 | |
刊名 | APPLIED SCIENCES-BASEL |
2018 | |
卷号 | 8期号:11页码:1-20 |
关键词 | snake robots head-raising shape-fitting phase-shifting spiral curve |
ISSN号 | 2076-3417 |
产权排序 | 1 |
英文摘要 | A snake robot has to raise its head to acquire a wide visual space for planning complex tasks such as inspecting unknown environments, tracking a flying object and acting as a manipulator with its raising part. However, only a few researchers currently focus on analyzing the head-raising motion of snake robots. Thus, a predefined spiral curve method is proposed for the head-raising motion of such robots. First, the expression of the predefined spiral curve is designed. Second, with the curve and a line segments model of a snake robot, a shape-fitting algorithm is developed for constraining the robot's macro shape. Third, the coordinate system of the line segments model of the robot is established. Then, phase-shifting and angle-solving algorithms are developed to obtain the angle sequences of roll, pitch, and yaw during the head-raising motion. Finally, the head-raising motion is simulated using the angle sequences to validate the feasibility of this method. |
资助项目 | National Science Foundation of China[51775541] ; Research Fund of China Manned Space Engineering[030201] ; Engineering and Physical Sciences Research Council (EPSRC)[EP/S001913/1] |
WOS关键词 | SIDEWINDING LOCOMOTION ; SHAPE CONTROL |
WOS研究方向 | Chemistry ; Materials Science ; Physics |
语种 | 英语 |
WOS记录号 | WOS:000451302800001 |
资助机构 | National Science Foundation of China ; Research Fund of China Manned Space Engineering ; Engineering and Physical Sciences Research Council (EPSRC) |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/23680] |
专题 | 沈阳自动化研究所_空间自动化技术研究室 |
通讯作者 | Liu JG(刘金国) |
作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.Intelligent Systems & Biomedical Robotics, School of Creative Technologies, University of Portsmouth, Portsmouth P01 3HE, UK 5.Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea SA1 8EN, UK |
推荐引用方式 GB/T 7714 | Zhang XB,Liu JG,Yang, Chenguang. Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method[J]. APPLIED SCIENCES-BASEL,2018,8(11):1-20. |
APA | Zhang XB,Liu JG,&Yang, Chenguang.(2018).Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method.APPLIED SCIENCES-BASEL,8(11),1-20. |
MLA | Zhang XB,et al."Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method".APPLIED SCIENCES-BASEL 8.11(2018):1-20. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论