Design and improved serpentine curve locomotion control of a planar modular snake robot
- Resource Type
- Conference
- Authors
- Shi, Peipei; Shao, Qianjun; Liang, Dongtai
- Source
- 2016 IEEE International Conference on Information and Automation (ICIA) Information and Automation (ICIA), 2016 IEEE International Conference on. :1398-1402 Aug, 2016
- Subject
- Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineering Profession
General Topics for Engineers
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Shape
Mathematical model
Mobile robots
Wheels
Servomotors
Friction
Modular Snake robot
Serpentine curve
New angular parameter
- Language
This paper presents a design of planar snake robot which consists of bottom-wheeled modular parts chained with servo actuator joints. Serpentine curve locomotion is recognized as the most efficient gait for snake robots control in terms of motor torques and friction forces. However, the traditional serpentine control model is based on fixed parameters. There is a slipping problem when snake robots change the shape. Changing parameters to implement a given manoeuvring motion causes the chained modular parts to slip. The improved serpentine curve equations are proposed here attaching a new angular parameter to compensate the slipping. So the manoeuvring motion of snake robots remains optimal even when the parameters changed. Both simulation and experiments show that the new angular parameter can effectively compensate the deviation caused by slipping. The results also show the efficiency of applying this method to the designed snake robot.