A control method for motion and exploration of a snake robot in a narrow irregular environment
By improving the structure and control methods of the snake robot, an adaptive spiral rolling gait under sensorless conditions was achieved, solving the problem of insufficient mobility of the snake robot in unstructured environments and improving its exploration ability and stability.
CN117901076BActive Publication Date: 2026-05-29TIANJIN POLYTECHNIC UNIV
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- TIANJIN POLYTECHNIC UNIV
- Filing Date
- 2024-02-07
- Publication Date
- 2026-05-29
Smart Images
Figure CN117901076B_ABST
Abstract
The application discloses a control method for motion and exploration of a snake robot in a narrow irregular environment. The method mainly comprises the following steps: a cordless and non-carrying snake robot is assembled through a P-Y orthogonal linkage method, and a dynamic model is established through the method; a forward motion curve is formulated according to a backbone curve, so that the snake robot can enter a narrow space; in the process of exploration, the robot is not matched with any sensor, the snake robot obtains torque feedback through a steering wheel on a joint, a force feedback model is established, the model can adjust the expected angle of the steering wheel in real time, so that the radius of the motion curve is changed, and the environment can be perfectly adapted; through feedback of position information of the steering wheel, the size of the radius of the narrow space can be analyzed, and exploration of the radius of the space is realized.
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