Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Chofu 182-8585, Japan.
Department of Mechanical Science and Engineering, Nagoya University, Nagoya 464-8601, Japan.
Sensors (Basel). 2022 Jun 29;22(13):4920. doi: 10.3390/s22134920.
The ultimate goal of this research study is to perform continuous rather than sequential movements of prismatic joints for effective motion of a snake robot with prismatic joints in a complex terrain. We present herein a control method for robotic step climbing. This method is composed of two parts: the first involves the shift reference generator that generates the joint motion for climbing a step, and the other is use of the trajectory tracking controller, which generates the joint motion for the head to track the target trajectory. In this method, prismatic joints are divided into those that are directly controlled for climbing a step and those that are represented as redundancies. By directly controlling the link length, it is possible to prevent the trailing part from back motion when climbing a step, and to avoid a singular configuration in the parts represented as redundancies. A snake robot that has rotational and prismatic joints and can move in three-dimensions was developed, and the effectiveness of the proposed method was demonstrated by experiments using this robot. In the experiment, it was confirmed that the proposed method realizes the step climbing, and the link length limitation using the sigmoid function works effectively.
本研究的最终目标是对棱柱关节进行连续而不是顺序的运动，以便在复杂地形中具有棱柱关节的蛇形机器人能够有效地运动。本文提出了一种用于机器人阶跃攀爬的控制方法。该方法由两部分组成：第一部分涉及用于生成攀爬阶跃运动的关节运动的移位参考生成器，另一部分是使用轨迹跟踪控制器，该控制器生成用于头部跟踪目标轨迹的关节运动。在该方法中，棱柱关节分为直接用于攀爬阶跃的关节和表示为冗余的关节。通过直接控制连杆长度，可以防止在攀爬阶跃时尾部向后运动，并避免表示为冗余的部分出现奇异配置。开发了一种具有旋转和棱柱关节并可以在三维空间中移动的蛇形机器人，并通过使用该机器人进行的实验验证了所提出方法的有效性。在实验中，确认了所提出的方法实现了阶跃攀爬，并且使用 Sigmoid 函数的连杆长度限制有效。
