TY - GEN
T1 - Motion Control Curve of Snake-like Robot Based on Centroid Stability
AU - Zhou, Zhihao
AU - Wang, Haiyan
AU - Li, Dongfang
AU - Deng, Hongbin
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - To improve the stability of underwater motion of snake-like robot with uneven body mass distribution, based on the principle of centroid stability, by improving the Serpenoid curve, a motion control curve for snake-like robot with uneven body mass distribution is obtained. Firstly, the function of the improved motion control curve is obtained from the centroid equation of the snake-like robot in its motion process. Then, the lateral force of the snake-like robot is analyzed, and the condition equation of zero lateral resultant force is obtained. Finally, the uneven distribution of multi-rigid body and body mass is pointed out. The snake-like robot is simulated and compared with the Serpenoid curve and the improved motion curve. Finally, the underwater motion of the snake-like robot with multi-rigid body structure and uneven mass distribution is simulated, and the simulation results of the Serpenoid curve and the improved motion curve are compared. The results show that in the case of uneven mass distribution of the multi-rigid body snake-like robot, the improved motion control curve can significantly reduce the swing of the centroid perpendicular to the motion direction and improve the stability of the the snakelike robot during the underwater serpenite motion.
AB - To improve the stability of underwater motion of snake-like robot with uneven body mass distribution, based on the principle of centroid stability, by improving the Serpenoid curve, a motion control curve for snake-like robot with uneven body mass distribution is obtained. Firstly, the function of the improved motion control curve is obtained from the centroid equation of the snake-like robot in its motion process. Then, the lateral force of the snake-like robot is analyzed, and the condition equation of zero lateral resultant force is obtained. Finally, the uneven distribution of multi-rigid body and body mass is pointed out. The snake-like robot is simulated and compared with the Serpenoid curve and the improved motion curve. Finally, the underwater motion of the snake-like robot with multi-rigid body structure and uneven mass distribution is simulated, and the simulation results of the Serpenoid curve and the improved motion curve are compared. The results show that in the case of uneven mass distribution of the multi-rigid body snake-like robot, the improved motion control curve can significantly reduce the swing of the centroid perpendicular to the motion direction and improve the stability of the the snakelike robot during the underwater serpenite motion.
KW - motion control curve
KW - snake-like robot
KW - underwater serpenite motion
UR - https://www.scopus.com/pages/publications/85080947903
U2 - 10.1109/ICUS48101.2019.8996081
DO - 10.1109/ICUS48101.2019.8996081
M3 - Conference contribution
AN - SCOPUS:85080947903
T3 - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
SP - 826
EP - 830
BT - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Y2 - 17 October 2019 through 19 October 2019
ER -