Towards autonomous locomotion: Slithering gait design of a snake-like robot for target observation and tracking

Zhenshan Bing, Long Cheng, Kai Huang, Zhuangyi Jiang, Guang Chen, Florian Rohrbein, Alois Knoll

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Scopus citations

Abstract

In this paper, a biologically inspired 3D slithering gait for a snake-like robot is designed and implemented for the purpose of target tracking. First, by balancing the forward speed and the stability of the robot, a straight slithering gait is modelled, under which the robot can march straight, fast, and stably. Then, for the purpose of steering, the straight slithering gait is modified into a biased slithering gait. The relationship between turning radius and gait parameters is analyzed by the resistive force theory. With the head composition algorithm, we investigate the orientation problem of the snake robot's head module to obtain stable visual information during the locomotion process. Finally, with the guidance of the vision sensor mounted in the head module, target tracking simulations and prototype experiments are conducted to demonstrate the practicality and effectiveness of the slithering gait in autonomous locomotion scenarios.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2698-2703
Number of pages6
ISBN (Electronic)9781538626825
DOIs
StatePublished - 13 Dec 2017
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 24 Sep 201728 Sep 2017

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Country/TerritoryCanada
CityVancouver
Period24/09/1728/09/17

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