Ziqiang Zhang , Xiaoshuo Liu , Yiming Wang , Zongtian Liu , Jinnong Liao
{"title":"仿蜈蚣机器人的机械设计与运动规划","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":"{\"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}","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}
Mechanical design and motion planning of a centipede-inspired robot
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.
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.