S-shaped rolling gait designed using curve transformations of a snake robot for climbing on a bifurcated pipe.

IF 3.1 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

Bioinspiration & Biomimetics Pub Date : 2024-04-02 DOI:10.1088/1748-3190/ad3601

Jingwen Lu, Chaoquan Tang, Eryi Hu, Zhipeng Li

引用次数: 0

Abstract

In this work, we focus on overcoming the challenge of a snake robot climbing on the outside of a bifurcated pipe. Inspired by the climbing postures of biological snakes, we propose an S-shaped rolling gait designed using curve transformations. For this gait, the snake robot's body presenting an S-shaped curve is wrapped mainly around one side of the pipe, which leaves space for the fork of the pipe. To overcome the difficulty in constructing and clarifying the S-shaped curve, we present a method for establishing the transformation between a plane curve and a 3D curve on a cylindrical surface. Therefore, we can intuitively design the curve in 3D space, while analytically calculating the geometric properties of the curve in simple planar coordinate systems. The effectiveness of the proposed gait is verified by actual experiments. In successful configuration scenarios, the snake robot could stably climb on the pipe and efficiently cross or climb to the bifurcation while maintaining its target shape.

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利用蛇形机器人的曲线变换设计 S 形滚动步态，用于在分叉管道上攀爬。

在这项工作中，我们重点攻克了蛇形机器人在分叉管道外侧攀爬的难题。受生物蛇类攀爬姿态的启发，我们提出了一种利用曲线变换设计的 S 形滚动步态。在这种步态下，蛇形机器人的身体呈现 S 形曲线，主要缠绕在管道的一侧，为管道的分叉留出空间。为了克服构建和明确 S 形曲线的困难，我们提出了一种在圆柱面上建立平面曲线和三维曲线之间变换的方法。因此，我们可以在三维空间中直观地设计曲线，同时在简单的平面坐标系中分析计算曲线的几何特性。实际实验验证了拟议步态的有效性。在成功的配置方案中，蛇形机器人可以稳定地在管道上攀爬，并在保持目标形状的情况下有效地穿过或爬到分叉处。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.