Snake-Like Robot with Fusion Gait for High Environmental Adaptability: Design, Modeling, and Experiment
Source abstract
Abstract
A snake changes its gait to adapt to different environments. A snake-like robot that is able to perform as many or more gaits than a real-life snake has the potential to successfully adapt to a range of environments, similar to a real-life snake. However, only a few mechanisms in the current snake-like framework can perform common gaits. In this paper, a novel snake-like robot is developed to resolve this problem. A multi-gait is established and used as a reference for the articulation design. A non-snake-like mechanism with linear articulation is combined with the classical swing joint. A prototype is designed and constructed for verification and analysis. Two basic main gaits, namely, serpentine and rectilinear locomotion, are fused, and a novel obstacle-aided locomotion based on rectilinear motion is developed. The experiment demonstrates that the robot can generate all of the expected gaits with high movement efficiency.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Modular Robots and Swarm Intelligence · Soft Robotics and Applications · Robotic Locomotion and Control
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Instrument Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
Department of Robotics, Ritsumeikan University, Kyoto 525-8577, Japan
References (16)
Show source-provided references
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