A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics
文献类型：期刊论文
| 作者 | Li B(李斌)3; Ma SG(马书根)1; Guo X(郭宪)2; Fang YC(方勇纯)2; Sun Q(孙强) ; Liu JG(刘金国); Chi HD(迟浩东); Li Z(李正); Wang TJ(王铁军); Xiao L(肖磊)
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2018 |
| 卷号 | 23期号:3页码:1249-1258 |
| 关键词 | Differential geometry geometric modeling mobile robot motion-planning robot kinematics |
| ISSN号 | 1083-4435 |
| 产权排序 | 3 |
| 通讯作者 | Fang YC(方勇纯) |
| 中文摘要 | In this paper, a novel serpentine gait generation method is proposed based on geometry mechanics. From the view of differential geometry, the configuration of snake-like robots can be described by a fiber bundle, in which the net locomotion corresponds to the fiber space and the gait corresponds to the bases space. The serpentine gait can be generated by calculating the connection of the fiber bundle. Compared with the traditional gait generation method, such as the curve-based method and the central pattern generator-based method, the proposed method does not assume that the serpentine gait is a standard sinusoidal signal. Models have been developed based on geometric mechanics, which build the relation between the net locomotion and the serpentine gaits analytically. Based on these models, the serpentine gaits for snakelike robots with passive wheels can be generated by planning the quasi-velocity and the serpentine gaits for underwater snakelike robots can be generated by analyzing the integral of the height function. The serpentine gaits generated by the proposed method directly couple with the locomotion of the snakelike robot, which enables the desired locomotion to be realized efficiently. To validate the proposed method, both the snakelike robot with passive wheels and the underwater snakelike robot are taken to perform the experiments. Additionally the recursive Newton-Euler method with the model of hydrodynamic forces is also taken to test the underwater serpentine gaits. Experiments and simulation have validated our proposed method. |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000435338300026 |
| 源URL | [http://ir.sia.cn/handle/173321/22201]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 作者单位 | 1.Ritsumeikan University, Kyoto 603-8577, Japan 2.Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin 300071, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Li B,Ma SG,Guo X,et al. A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2018,23(3):1249-1258. |
| APA | Li B.,Ma SG.,Guo X.,Fang YC.,孙强.,...&陈科利.(2018).A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics.IEEE-ASME TRANSACTIONS ON MECHATRONICS,23(3),1249-1258. |
| MLA | Li B,et al."A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics".IEEE-ASME TRANSACTIONS ON MECHATRONICS 23.3(2018):1249-1258. |
入库方式： OAI收割
来源：沈阳自动化研究所
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