蛇形机器人的一种蠕动步态.pdfVIP

Journal of Southeast University(English Edition) Vo1．23，No．4，PP．556—560 Dec．2007 ISSN 1003—_7985 Inchworm locomotion gait for snakelike robot Sun Hong Ma Peisun Wang Guangrong (Research Institute of Robotics，Shanghai Jiaotong University，Shanghai 200030，China) Abstract：To establish a universal and easily controlled gait for practical use of snakelike robot movement，an inchworm locomotion gait model based on a serpenoid curve is presented．By analyzing the relations of two adjacent waves in the process of 1ocomotion and doing an approximation of the serpenoid curve，the motion function of relative angles between two adjacent links and the absolute angles between each link and the baseline on the traveling curve are built．Two efficiency criterions of the gait are given as the energy 1oss function f and the unit displacement in one cycle d ，t．Three parameters of the criterions affecting the efficiency of the gait f the number of 1inks that form the traveling wave，z，the included angle between two adjacent 1inks ot，and the phase difference of adjacent included angles 13)are discussed by simulations and experiments．The results show that f is insensitive to，z；raising，z increases d c significantly；the maximum wave amplitude of ot is a decreasing function of，z：and increasing ot reduces the displacement influence of f when?-／is determined．The gait modelis suitable for different inchworm 1ocomotions of a snakelike robot whose traveling waves are formed by different numbers of identical links．A wave formed by more links or a greater relative angle between two adiacent links both lead to greater velocity of the movement． KeY words：snakelike robot；multilink；inchworm 1ocomotion gait；efficiency criterion The most recent studies of snakelike robots have iS based on stationary w