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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
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URI: https://cronfa.swan.ac.uk/Record/cronfa45499
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first_indexed 2018-11-20T14:19:34Z
last_indexed 2023-01-27T03:54:15Z
id cronfa45499
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spelling 2023-01-26T11:25:34.6047487 v2 45499 2018-11-08 Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method d2a5024448bfac00a9b3890a8404380b Chenguang Yang Chenguang Yang true false 2018-11-08 EEN 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. Journal Article Applied Sciences 8 11 2011 2076-3417 snake robots; head-raising; shape-fitting; phase-shifting; spiral curve 31 12 2018 2018-12-31 10.3390/app8112011 COLLEGE NANME Engineering COLLEGE CODE EEN Swansea University 2023-01-26T11:25:34.6047487 2018-11-08T10:13:58.3449766 Faculty of Science and Engineering School of Engineering and Applied Sciences - Uncategorised Xiaobo Zhang 1 Jinguo Liu 2 Zhaojie Ju 3 Chenguang Yang 4 0045499-08112018101837.pdf zhang2018(11).pdf 2018-11-08T10:18:37.1730000 Output 2468369 application/pdf Version of Record true 2018-11-08T00:00:00.0000000 true eng
title Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method
spellingShingle Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method
Chenguang Yang
title_short Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method
title_full Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method
title_fullStr Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method
title_full_unstemmed Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method
title_sort Head-Raising of Snake Robots Based on a Predefined Spiral Curve Method
author_id_str_mv d2a5024448bfac00a9b3890a8404380b
author_id_fullname_str_mv d2a5024448bfac00a9b3890a8404380b_***_Chenguang Yang
author Chenguang Yang
author2 Xiaobo Zhang
Jinguo Liu
Zhaojie Ju
Chenguang Yang
format Journal article
container_title Applied Sciences
container_volume 8
container_issue 11
container_start_page 2011
publishDate 2018
institution Swansea University
issn 2076-3417
doi_str_mv 10.3390/app8112011
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Engineering and Applied Sciences - Uncategorised{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Engineering and Applied Sciences - Uncategorised
document_store_str 1
active_str 0
description 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.
published_date 2018-12-31T03:57:18Z
_version_ 1763752897217036288
score 11.016235

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