The invention relates to an attitude control method for a snake-like robot on a rough pavement. The snake-like robot comprises spiral casings (1) in groups of four, wherein spiral teeth are arranged on each spiral casing (1), the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle are the same, and the rotating directions of the spiral teeth of the two spiral casings (1) located on two sides are opposite to the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle; a universal joint is arranged between two adjacent spiral casings (1). The attitude control method for the snake-like robot on the rough pavement comprises the following steps: the universal joints keep a broken line sate under control of actuators (4), the angles of the broken lines are determined by roughness of the ground, so that the spiral teeth of the two spiral casings (1) are contacted with the ground, the spiral casings (1) are driven by gear motors to rotate, and the spiral teeth of the two spiral casings (1) only have one forward resultant force. The robot can go forwards stably in a snake-like manner in a rough environment.
Attitude control method for snake-like robot on rough pavement
2015-06-10
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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