Design and Realize a Snake-Like Robot in Complex Environment
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 Soli...
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2019-01-01
|
| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2019/1523493 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850159765675573248 |
|---|---|
| author | Bingqi Liu Mingzhe Liu Xianghe Liu Xianguo Tuo Xing Wang Shibo Zhao Tingting Xiao |
| author_facet | Bingqi Liu Mingzhe Liu Xianghe Liu Xianguo Tuo Xing Wang Shibo Zhao Tingting Xiao |
| author_sort | Bingqi Liu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-b2d26be0ccc2432ab1e2ca66cbe9b51c |
| institution | OA Journals |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-b2d26be0ccc2432ab1e2ca66cbe9b51c2025-08-20T02:23:24ZengWileyJournal of Robotics1687-96001687-96192019-01-01201910.1155/2019/15234931523493Design and Realize a Snake-Like Robot in Complex EnvironmentBingqi Liu0Mingzhe Liu1Xianghe Liu2Xianguo Tuo3Xing Wang4Shibo Zhao5Tingting Xiao6State Key Laboratory of Geohazard Prevention and Geoenvironment Protection, Chengdu University of Technology, Chengdu, ChinaState Key Laboratory of Geohazard Prevention and Geoenvironment Protection, Chengdu University of Technology, Chengdu, ChinaState Key Laboratory of Geohazard Prevention and Geoenvironment Protection, Chengdu University of Technology, Chengdu, ChinaState Key Laboratory of Geohazard Prevention and Geoenvironment Protection, Chengdu University of Technology, Chengdu, ChinaState Key Laboratory of Geohazard Prevention and Geoenvironment Protection, Chengdu University of Technology, Chengdu, ChinaState Key Laboratory of Geohazard Prevention and Geoenvironment Protection, Chengdu University of Technology, Chengdu, ChinaDeyang Science and Technology Information Research Institute, Deyang, ChinaAiming 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.http://dx.doi.org/10.1155/2019/1523493 |
| spellingShingle | Bingqi Liu Mingzhe Liu Xianghe Liu Xianguo Tuo Xing Wang Shibo Zhao Tingting Xiao Design and Realize a Snake-Like Robot in Complex Environment Journal of Robotics |
| title | Design and Realize a Snake-Like Robot in Complex Environment |
| title_full | Design and Realize a Snake-Like Robot in Complex Environment |
| title_fullStr | Design and Realize a Snake-Like Robot in Complex Environment |
| title_full_unstemmed | Design and Realize a Snake-Like Robot in Complex Environment |
| title_short | Design and Realize a Snake-Like Robot in Complex Environment |
| title_sort | design and realize a snake like robot in complex environment |
| url | http://dx.doi.org/10.1155/2019/1523493 |
| work_keys_str_mv | AT bingqiliu designandrealizeasnakelikerobotincomplexenvironment AT mingzheliu designandrealizeasnakelikerobotincomplexenvironment AT xiangheliu designandrealizeasnakelikerobotincomplexenvironment AT xianguotuo designandrealizeasnakelikerobotincomplexenvironment AT xingwang designandrealizeasnakelikerobotincomplexenvironment AT shibozhao designandrealizeasnakelikerobotincomplexenvironment AT tingtingxiao designandrealizeasnakelikerobotincomplexenvironment |