蛇形机器人侧向运动的研究

本文提出了一种新型蛇形机器人机构 ,建立了其空间运动学模型 ,实现了蛇形机器人的两种侧向运动 :侧向蜿蜒运动和侧向滚动 ,前者通过调节两个异相波的频率比 ,实现了任意方向的侧向运动 .后者通过控制运动波的幅值变化 ,实现了各种形式的纯侧向移动 ,当幅值足够大时 ,这种侧向滚动可以跨越障碍

A new kind of snake robot is presented and its three  dimensional kinematic model has been built up. Two types of lateral locomotion, sidewinding and lateral rolling are implemented. The former in any direction can be achieved by varying the frequency of two waves out of phase and the latter that can be divided into three types can be obtained by controlling the amplitude of waves, especially when the amplitude is high enough, the snake robot can avoid some obstacles.

国家 8 63基金资助项目 ( 2 0 0 1AA42 2 3 60 )