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A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics
Guo X(郭宪)1; Ma SG(马书根)2; Li B(李斌)3; Fang YC(方勇纯)1
Indexed BySCI ; EI
EI Accession number20181004860665
WOS IDWOS:000435338300026
Contribution Rank3
Funding OrganizationNational Natural Science Foundation of China ; China Postdoctoral Science Foundation
KeywordDifferential Geometry Geometric Modeling Mobile Robot Motion-planning Robot Kinematics

In this paper, a novel serpentine gait generation method is proposed based on geometry mechanics. From the view of differential geometry, the configuration of snake-like robots can be described by a fiber bundle, in which the net locomotion corresponds to the fiber space and the gait corresponds to the bases space. The serpentine gait can be generated by calculating the connection of the fiber bundle. Compared with the traditional gait generation method, such as the curve-based method and the central pattern generator-based method, the proposed method does not assume that the serpentine gait is a standard sinusoidal signal. Models have been developed based on geometric mechanics, which build the relation between the net locomotion and the serpentine gaits analytically. Based on these models, the serpentine gaits for snakelike robots with passive wheels can be generated by planning the quasi-velocity and the serpentine gaits for underwater snakelike robots can be generated by analyzing the integral of the height function. The serpentine gaits generated by the proposed method directly couple with the locomotion of the snakelike robot, which enables the desired locomotion to be realized efficiently. To validate the proposed method, both the snakelike robot with passive wheels and the underwater snakelike robot are taken to perform the experiments. Additionally the recursive Newton-Euler method with the model of hydrodynamic forces is also taken to test the underwater serpentine gaits. Experiments and simulation have validated our proposed method.

WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS Research AreaAutomation & Control Systems ; Engineering
Funding ProjectNational Natural Science Foundation of China[61603200] ; National Natural Science Foundation of China[61333016] ; National Natural Science Foundation of China[U1613210] ; China Postdoctoral Science Foundation[2016M601256]
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Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Corresponding AuthorFang YC(方勇纯)
Affiliation1.Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin 300071, China
2.Ritsumeikan University, Kyoto 603-8577, Japan
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Guo X,Ma SG,Li B,et al. A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2018,23(3):1249-1258.
APA Guo X,Ma SG,Li B,&Fang YC.(2018).A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics.IEEE-ASME TRANSACTIONS ON MECHATRONICS,23(3),1249-1258.
MLA Guo X,et al."A Novel Serpentine Gait Generation Method for Snakelike Robots Based on Geometry Mechanics".IEEE-ASME TRANSACTIONS ON MECHATRONICS 23.3(2018):1249-1258.
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