Path following of the rope-drive snake-like robot

Chengzu Huang; Junyao Gao; Cheng Wang; Xuandong Su; Huaxin Liu; Xin Li; Yi Liu; Zhe Xu

doi:10.1109/ICACI.2012.6463364

Path following of the rope-drive snake-like robot

Chengzu Huang^*, Junyao Gao, Cheng Wang, Xuandong Su, Huaxin Liu, Xin Li, Yi Liu, Zhe Xu

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

As snake is one of the animals with the best obstacle performance in the nature, snake-like robot with the movement mechanism and behavioral pattern of a biological snake has broad application prospects. This paper designs a rope-drive snake-like robot driven by the friction of the rope instead of the traditional twisting forward movement pattern, the new drive mode can provide more power for the robot. Based on the follow the leader rule, this paper presents a new path following control method involving time delay in turn, and summarizes the movement pattern of the snake-like robot in theory, and then verifies the path following control method through simulation.

Original language	English
Title of host publication	2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012
Pages	1189-1194
Number of pages	6
DOIs	https://doi.org/10.1109/ICACI.2012.6463364
Publication status	Published - 2012
Event	2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012 - Nanjing, China Duration: 18 Oct 2012 → 20 Oct 2012

Publication series

Name	2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012

Conference

Conference	2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012
Country/Territory	China
City	Nanjing
Period	18/10/12 → 20/10/12

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10.1109/ICACI.2012.6463364

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Huang, C., Gao, J., Wang, C., Su, X., Liu, H., Li, X., Liu, Y., & Xu, Z. (2012). Path following of the rope-drive snake-like robot. In 2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012 (pp. 1189-1194). Article 6463364 (2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012). https://doi.org/10.1109/ICACI.2012.6463364

@inproceedings{ceafa1e90f274e4982d74d9f516a3f72,

title = "Path following of the rope-drive snake-like robot",

abstract = "As snake is one of the animals with the best obstacle performance in the nature, snake-like robot with the movement mechanism and behavioral pattern of a biological snake has broad application prospects. This paper designs a rope-drive snake-like robot driven by the friction of the rope instead of the traditional twisting forward movement pattern, the new drive mode can provide more power for the robot. Based on the follow the leader rule, this paper presents a new path following control method involving time delay in turn, and summarizes the movement pattern of the snake-like robot in theory, and then verifies the path following control method through simulation.",

author = "Chengzu Huang and Junyao Gao and Cheng Wang and Xuandong Su and Huaxin Liu and Xin Li and Yi Liu and Zhe Xu",

year = "2012",

doi = "10.1109/ICACI.2012.6463364",

language = "English",

isbn = "9781467317436",

series = "2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012",

pages = "1189--1194",

booktitle = "2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012",

note = "2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012 ; Conference date: 18-10-2012 Through 20-10-2012",

}

Huang, C, Gao, J, Wang, C, Su, X, Liu, H, Li, X, Liu, Y & Xu, Z 2012, Path following of the rope-drive snake-like robot. in 2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012., 6463364, 2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012, pp. 1189-1194, 2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012, Nanjing, China, 18/10/12. https://doi.org/10.1109/ICACI.2012.6463364

Path following of the rope-drive snake-like robot. / Huang, Chengzu; Gao, Junyao; Wang, Cheng et al.
2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012. 2012. p. 1189-1194 6463364 (2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Li, Xin

AU - Liu, Yi

AU - Xu, Zhe

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AB - As snake is one of the animals with the best obstacle performance in the nature, snake-like robot with the movement mechanism and behavioral pattern of a biological snake has broad application prospects. This paper designs a rope-drive snake-like robot driven by the friction of the rope instead of the traditional twisting forward movement pattern, the new drive mode can provide more power for the robot. Based on the follow the leader rule, this paper presents a new path following control method involving time delay in turn, and summarizes the movement pattern of the snake-like robot in theory, and then verifies the path following control method through simulation.

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T3 - 2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012

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BT - 2012 IEEE 5th International Conference on Advanced Computational Intelligence, ICACI 2012

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Y2 - 18 October 2012 through 20 October 2012

ER -

Path following of the rope-drive snake-like robot

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