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 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.

[1]  Kazuyuki Ito,et al.  Semi-autonomous serially connected multi-crawler robot for search and rescue , 2016, Adv. Robotics.

[2]  Ya Ping Lu,et al.  Structural Design and Research of the Bionic Snake-Like Robot , 2012 .

[3]  Bahadur Ibrahimov,et al.  Development of a Decision Making Guide for Locomotion Design for In-pipe Inspection Robots - One Step towards Open Innovation in Robotics , 2016 .

[4]  Shigeo Hirose,et al.  Development of snake-like robot ACM-R8 with large and mono-tread wheel , 2015, Adv. Robotics.

[5]  Xiaolu Wang,et al.  Serpenoid polygonal rolling for chain-type modular robots , 2016 .

[6]  Shugen Ma,et al.  Smooth transition for CPG-based body shape control of a snake-like robot , 2013, Bioinspiration & biomimetics.

[7]  Zhelong Wang,et al.  CPG-Inspired Locomotion Control for a Snake Robot Basing on Nonlinear Oscillators , 2016, Journal of Intelligent & Robotic Systems.

[8]  Li Wang,et al.  Attitude control based on fuzzy logic for continuum aircraft fuel tank inspection robot , 2015, J. Intell. Fuzzy Syst..

[9]  Shigeo Hirose,et al.  Loop forming snake-like robot ACM-R7 and its Serpenoid Oval control , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Carsten Behn,et al.  Kinematic and dynamic description of non-standard snake-like locomotion systems , 2016 .

[11]  Shigeo Hirose,et al.  Biomechanical Study on Serpentine Locomotion , 1974 .

[12]  Masami Iwase,et al.  Control strategy for a snake-like robot based on constraint force and verification by experiment , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Shugen Ma,et al.  A Simplified CPGs Network with Phase Oscillator Model for Locomotion Control of a Snake-like Robot , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[14]  Xiaodong Wu,et al.  CPG-based control of serpentine locomotion of a snake-like robot ☆ , 2010 .

[15]  Matthew S. Moses,et al.  Modeling Cable and Guide Channel Interaction in a High-Strength Cable-Driven Continuum Manipulator , 2015, IEEE/ASME Transactions on Mechatronics.

[16]  Rüdiger Dillmann,et al.  Autonomous navigation for reconfigurable snake-like robots in challenging, unknown environments , 2017, Robotics Auton. Syst..

[17]  Yixiang Liu,et al.  Two multi-linked rescue robots: design, construction and field tests , 2016 .

[18]  Dragos Axinte,et al.  Design and analysis of a family of snake arm robots connected by compliant joints , 2014 .

[19]  Wail Gueaieb,et al.  Planar kinematics analysis of a snake-like robot , 2014, Robotica.

[20]  Howie Choset,et al.  Using Bayesian optimization to guide probing of a flexible environment for simultaneous registration and stiffness mapping , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[21]  Lu Zhenl Dynamics Simulation Analysis on Serpentine Swimming Performance of a Snake-like Robot , 2015 .