IEEE Trans Cybern. 2022 Oct;52(10):10980-10987. doi: 10.1109/TCYB.2021.3055519. Epub 2022 Sep 19.
This work investigates direction control and path following of a 3-D snake-like robot. In order to control such robots accurately, this work researches the relationships between its phase offsets of pitch joints and directions. A new direction control method is proposed for the robot based on these relationships. An adaptive path-following algorithm based on the line-of-sight guidance law is proposed and combined with the direction control method to steer the robot to move forward and along desired paths. Simulation and experimental results are presented to demonstrate the performances of the proposed 3-D model and control methods. They well outperform the classical and commonly used path-following method.
本工作研究了三维蛇形机器人的方向控制和路径跟踪。为了精确地控制这种机器人，本工作研究了其俯仰关节的相位偏移与方向之间的关系。基于这些关系，为机器人提出了一种新的方向控制方法。提出了一种基于视线路径引导律的自适应路径跟踪算法，并将其与方向控制方法相结合，以引导机器人沿期望路径前进。给出了仿真和实验结果，以验证所提出的三维模型和控制方法的性能。它们明显优于经典且常用的路径跟踪方法。
