A multi-gait control method for a snake-like search and rescue robot

Abstract

The invention relates to a snake imitation search and rescue robot multi-gait control method, comprising: according to natural, wheel type and chaotic motion gaits, inputting a consistent relation by utilizing the output of a Hopfiled Neural Network (HNN) and the need of three types of motion gaits; adjusting the weighting parameter of the HNN to obtain a corresponding gait signal; using the output signal of the HNN as the input signal of a snake imitation search and rescue robot dynamics controller; and controlling the snake imitation search and rescue robot to generate a corresponding gait. In a non stable state, i.e., at an initial time and a gait conversion time, the motion shape code technique (MSCT) is utilized to generate the initial shape of a corresponding gait, and a linear shape is used as an intermediate process state to perform gait conversion. A traditional central pattern generator (CPG) method does not consider non period gait and chaotic gait problems in gait control, while the snake imitation search and rescue robot multi-gait control method solves the problem, is more practical, and allows a snake imitation search and rescue robot to be better applied to search and rescue tasks.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a multi-gait control method for a snake-like search and rescue robot. technical background [0002] In recent years, snake-like search and rescue robots have shown great application potential in military reconnaissance, disaster search and rescue, pipeline inspection and other fields. With the development of computer technology, microelectronics technology, artificial intelligence and other technologies, snake-like search and rescue robots continue to develop many motion postures, and can independently choose posture movements in unknown or complex environments. Traditional gaits include snake-like motion forms such as meandering, side-sliding, and stretching. They are cyclical in nature and can be obtained by setting different control parameters in the Central PatternGenerator (CPG). However, this kind of snake movement has low efficiency, which seriously affects the prog...

AI Technical Summary

Problems solved by technology

Although these methods can realize the multi-gait expansion and control of the snake-like search and rescue robot, there are still the following main shortcomings: (1) Generally, when designing the gait, only the snake-like movement form is considered, imitating the natural snake movement, and the fast movement ability is not considered (2) The gait control method designed based on the unique characteristics of the mechanism cannot effectively expand a variety of control signals, and it is difficult to popularize and apply in practice

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