Mechanical design and motion planning of a centipede-inspired robot

IF 5.9 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Ain Shams Engineering Journal Pub Date : 2025-09-18 DOI:10.1016/j.asej.2025.103754

Ziqiang Zhang , Xiaoshuo Liu , Yiming Wang , Zongtian Liu , Jinnong Liao

{"title":"Mechanical design and motion planning of a centipede-inspired robot","authors":"Ziqiang Zhang , Xiaoshuo Liu , Yiming Wang , Zongtian Liu , Jinnong Liao","doi":"10.1016/j.asej.2025.103754","DOIUrl":null,"url":null,"abstract":"<div><div>Motion planning for hyper-redundant robots in complex terrains has always been a research hotspot in robotics. The main difficulty faced by hyper-redundant robots lies in motion planning on complex terrains such as steps. This study took the centipede as the simulation object and developed a centipede-inspired robot (CeRob). The CeRob consists of 7 independent modules, where each inter-module joint provides two independently controllable DOFs (pitch and yaw). Each module is symmetrically equipped with two single degree-of-freedom (DOF) cam-linkage leg mechanisms, which provide good reliability while meeting trajectory requirements. Subsequently, a front-planning and rear-following motion planning method was proposed. By combining the established objective function and constraints for motion planning of the front joints and achieving smooth following of subsequent motions through the joints, the motion planning efficiency of the robot was improved. The robot designed in this study has broad application prospects in fields such as post-disaster rescue, planetary exploration, and military reconnaissance.</div></div>","PeriodicalId":48648,"journal":{"name":"Ain Shams Engineering Journal","volume":"16 12","pages":"Article 103754"},"PeriodicalIF":5.9000,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Ain Shams Engineering Journal","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S2090447925004952","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}

引用次数: 0

Abstract

Motion planning for hyper-redundant robots in complex terrains has always been a research hotspot in robotics. The main difficulty faced by hyper-redundant robots lies in motion planning on complex terrains such as steps. This study took the centipede as the simulation object and developed a centipede-inspired robot (CeRob). The CeRob consists of 7 independent modules, where each inter-module joint provides two independently controllable DOFs (pitch and yaw). Each module is symmetrically equipped with two single degree-of-freedom (DOF) cam-linkage leg mechanisms, which provide good reliability while meeting trajectory requirements. Subsequently, a front-planning and rear-following motion planning method was proposed. By combining the established objective function and constraints for motion planning of the front joints and achieving smooth following of subsequent motions through the joints, the motion planning efficiency of the robot was improved. The robot designed in this study has broad application prospects in fields such as post-disaster rescue, planetary exploration, and military reconnaissance.

查看原文本刊更多论文

仿蜈蚣机器人的机械设计与运动规划

复杂地形下超冗余机器人的运动规划一直是机器人领域的研究热点。超冗余机器人面临的主要困难是在台阶等复杂地形上的运动规划。本研究以蜈蚣为仿真对象，研制了一种仿蜈蚣机器人（CeRob）。CeRob由7个独立模块组成，其中每个模块间连接提供两个独立可控的自由度（俯仰和偏航）。每个模块对称配置两个单自由度凸轮连杆腿机构，在满足轨迹要求的同时提供良好的可靠性。随后，提出了一种前规划后跟随运动规划方法。将所建立的前关节运动规划目标函数与约束条件相结合，实现后续运动通过关节的平滑跟随，提高了机器人的运动规划效率。本研究设计的机器人在灾后救援、行星探测、军事侦察等领域具有广阔的应用前景。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Ain Shams Engineering Journal Engineering-General Engineering

CiteScore

10.80

自引率

13.30%

发文量

441

审稿时长

49 weeks

期刊介绍： in Shams Engineering Journal is an international journal devoted to publication of peer reviewed original high-quality research papers and review papers in both traditional topics and those of emerging science and technology. Areas of both theoretical and fundamental interest as well as those concerning industrial applications, emerging instrumental techniques and those which have some practical application to an aspect of human endeavor, such as the preservation of the environment, health, waste disposal are welcome. The overall focus is on original and rigorous scientific research results which have generic significance. Ain Shams Engineering Journal focuses upon aspects of mechanical engineering, electrical engineering, civil engineering, chemical engineering, petroleum engineering, environmental engineering, architectural and urban planning engineering. Papers in which knowledge from other disciplines is integrated with engineering are especially welcome like nanotechnology, material sciences, and computational methods as well as applied basic sciences: engineering mathematics, physics and chemistry.