The Control Method of Turning Motion of a Snake Bonic Robot
WANG Chao1 DENG Hong-Bin1 PENG Yan-Bin2 LI Dong-Fang1 ZHAO Na1
1. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
2. Beijing Institute of Aeropace Control Decices, Beijing 100039, China
Abstract：Snake bionic robot is a multi-joint, high redundancy degree of imitation snake robot. Its performance of turning motion is an important technique for this class of robots. For the turning control of the snake bionic robot, four protocols are commented to judgment serpentine curve turn control methods of pros and cons criterion. Based on these protocols, three commonly used turning control methods are analyzed: center value control method, phase control method and the amplitude control method. Also the tangent control method and the combination control method are put forward to solve the snake bionic robot turning and after turning cannot fully maintain the snake curve, turning angle amplitude limited and discontinuous problems, to make a turn more accurate, turning time shorter, the effect more obvious. It has important significance on the turning motion based on the serpentine curve for the snake bionic robot.
王超, 邓宏彬, 彭演宾, 李东方, 赵娜. 蛇形仿生机器人的转弯运动控制方法[J]. 指挥与控制学报, 2015, 1(4): 485-492.
WANG Chao, DENG Hong-Bin, PENG Yan-Bin, LI Dong-Fang, ZHAO Na. The Control Method of Turning Motion of a Snake Bonic Robot. Journal of Command and Control, 2015, 1(4): 485-492.
2015, Vol. 1 
