The invention discloses a multi-joint snake-shaped robot and a motion control method thereof, and relates to the technical field of snake-shaped robots The multi-joint snakelike robot comprises a head, a tail and driving joints connected between the head and the tail. The driving joints comprise yaw joints used for controlling the snakelike robot to do yaw motion in the horizontal direction and pitching joints used for controlling the snakelike robot to do pitching motion in the vertical direction, wherein the yaw joints and the pitching joints are alternately arranged and connected. The motion control method of the multi-joint snakelike robot comprises the steps that yaw joints of the snakelike robot are controlled through a winding motion control function, so that the snakelike robot does winding motion; controlling a pitching joint of the snakelike robot by using the wriggling motion control function to enable the snakelike robot to do wriggling motion; and controlling a yaw joint and a pitching joint of the snakelike robot by using the rolling motion control function, so that the snakelike robot performs rolling motion. According to the scheme, the wheeled snakelike robot can move on the ground more efficiently and stably.

    多关节蛇形机器人及其运动控制方法,涉及蛇形机器人技术领域。前述多关节蛇形机器人包括头部、尾部和连接在头部和尾部之间的驱动关节,驱动关节包括交替设置并相连的用于控制蛇形机器人沿水平方向做偏航运动的偏航关节和用于控制蛇形机器人沿竖直方向做俯仰运动的俯仰关节。其中多关节蛇形机器人的运动控制方法包括:利用蜿蜒运动控制函数控制蛇形机器人的偏航关节,使蛇形机器人做蜿蜒运动;利用蠕动运动控制函数控制蛇形机器人的俯仰关节,使蛇形机器人做蠕动运动;利用翻滚运动控制函数控制蛇形机器人的偏航关节和俯仰关节,使蛇形机器人做翻滚运动。上述方案可以使无轮式蛇形机器人在地面运动更加高效平稳。


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    Title :

    Multi-joint snakelike robot and motion control method thereof


    Additional title:

    多关节蛇形机器人及其运动控制方法


    Contributors:
    YI WENHUI (author) / DU XUELIN (author) / XIA JIE (author) / ZHOU CAN (author) / MAO LI (author) / LIU YING (author) / ZOU JIAHUA (author) / DENG LISHI (author)

    Publication date :

    2022-11-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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