Design and Realize a Snake-Like Robot in Complex Environment
Joint Authors
Liu, Mingzhe
Liu, Bingqi
Liu, Xianghe
Tuo, Xianguo
Wang, Xing
Zhao, Shibo
Xiao, Tingting
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-02-03
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
Aiming at high performance requirements of snake-like robots under complex environment, we present a control system of our proposed design which utilizes a STM32 as the core processor and incorporates real-time image acquisition, multisensor fusion, and wireless communication technology.
We use Solidworks to optimize the design of head, body, and tail joint structure of the snake-like robot.
The system is a real-time system with a simple-circuit structure and multidegrees of freedom are attributed to the flawless design of control system and mechanical structure.
We propose a control method based on our simplified CPG model.
Meanwhile, we improve Serpenoid control function and then investigate how different parameters affect the motion gait in terms of ADAMS emulation.
Finally, experimental results show that the snake-like robot can tackle challenging problems including multi-information acquisition and processing, multigait stability, and autonomous motion and further verify the reliability and accuracy of the system in our combinatory experiments.
American Psychological Association (APA)
Liu, Bingqi& Liu, Mingzhe& Liu, Xianghe& Tuo, Xianguo& Wang, Xing& Zhao, Shibo…[et al.]. 2019. Design and Realize a Snake-Like Robot in Complex Environment. Journal of Robotics،Vol. 2019, no. 2019, pp.1-9.
https://search.emarefa.net/detail/BIM-1186912
Modern Language Association (MLA)
Liu, Bingqi…[et al.]. Design and Realize a Snake-Like Robot in Complex Environment. Journal of Robotics No. 2019 (2019), pp.1-9.
https://search.emarefa.net/detail/BIM-1186912
American Medical Association (AMA)
Liu, Bingqi& Liu, Mingzhe& Liu, Xianghe& Tuo, Xianguo& Wang, Xing& Zhao, Shibo…[et al.]. Design and Realize a Snake-Like Robot in Complex Environment. Journal of Robotics. 2019. Vol. 2019, no. 2019, pp.1-9.
https://search.emarefa.net/detail/BIM-1186912
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1186912