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Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method

Xiaobo Zhang, Jinguo Liu, Zhaojie Ju, Chenguang Yang

Applied Sciences, Volume: 8, Issue: 11, Start page: 2011

Swansea University Author: Chenguang Yang

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DOI (Published version): 10.3390/app8112011

Abstract

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 s...

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Published in: Applied Sciences
ISSN: 2076-3417
Published: 2018
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa45499
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Abstract: 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.
Keywords: snake robots; head-raising; shape-fitting; phase-shifting; spiral curve
College: Faculty of Science and Engineering
Issue: 11
Start Page: 2011

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