School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, People's Republic of China.
Information Institute, Ministry of Emergency Management of the People's Republic of China, Beijing, People's Republic of China.
Bioinspir Biomim. 2024 Apr 2;19(3). doi: 10.1088/1748-3190/ad3601.
In this work, we focus on overcoming the challenge of a snake robot climbing on the outside of a bifurcated pipe. Inspired by the climbing postures of biological snakes, we propose an S-shaped rolling gait designed using curve transformations. For this gait, the snake robot's body presenting an S-shaped curve is wrapped mainly around one side of the pipe, which leaves space for the fork of the pipe. To overcome the difficulty in constructing and clarifying the S-shaped curve, we present a method for establishing the transformation between a plane curve and a 3D curve on a cylindrical surface. Therefore, we can intuitively design the curve in 3D space, while analytically calculating the geometric properties of the curve in simple planar coordinate systems. The effectiveness of the proposed gait is verified by actual experiments. In successful configuration scenarios, the snake robot could stably climb on the pipe and efficiently cross or climb to the bifurcation while maintaining its target shape.
在这项工作中，我们专注于克服蛇形机器人在分叉管道外部攀爬的挑战。受生物蛇类攀爬姿势的启发，我们提出了一种使用曲线变换设计的 S 形滚动步态。对于这种步态，蛇形机器人的身体呈现出 S 形曲线，主要包裹在管道的一侧，为管道的分叉留出空间。为了克服构建和阐明 S 形曲线的困难，我们提出了一种在圆柱面上建立平面曲线和 3D 曲线之间变换的方法。因此，我们可以直观地在 3D 空间中设计曲线，同时在简单的平面坐标系中分析计算曲线的几何性质。通过实际实验验证了所提出步态的有效性。在成功的配置场景中，蛇形机器人可以稳定地在管道上攀爬，并在保持目标形状的同时有效地穿过或爬上分叉。
