Turning strategy of snake-like robot based on serpenoid curve under cloud assisted smart conditions

Chao Wang, Yanbin Peng, Dongfang Li, Zhenhua Pan, Hongbin Deng*, Dongguang Li, Bin Li

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)

Abstract

This paper presents a turning strategy of snake-like robot based on Serpenoid curve. By using four criteria to judge turning control approaches on the basis of serpenoid curve, three commonly used turning control approaches (i.e., central value modulation method, phase modulation method and amplitude modulation method) are first analyzed. Then the tangent control approach and the combination control approach are used to solve turning challenges such as deficiency in maintaining the serpenoid curve, limited turning angle, discontinuous joint angle, large turning radius and large amplitude of joint angle variation during and after turning. These approaches were tested and verified by using a snake-like robot prototype. It is found that the proposed approaches work well for the turning locomotion of the snake-like robot. The present turning strategy provides an important alternative for locomotion control of the snake-like robot.

Original languageEnglish
Pages (from-to)13041-13053
Number of pages13
JournalCluster Computing
Volume22
DOIs
Publication statusPublished - 1 Nov 2019

Keywords

  • Control approach
  • Serpenoid curve
  • Snake-like robot
  • Turning strategy

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Wang, C., Peng, Y., Li, D., Pan, Z., Deng, H., Li, D., & Li, B. (2019). Turning strategy of snake-like robot based on serpenoid curve under cloud assisted smart conditions. Cluster Computing, 22, 13041-13053. https://doi.org/10.1007/s10586-017-1192-x