Theory and applications of hyper-redundant robotic manipulators
Theory and applications of hyper-redundant robotic manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biomimetic Centering for Undulatory Robots
International Journal of Robotics Research
Generating gaits for snake robots by annealed chain fitting and keyframe wave extraction
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Discretization of a Continuous Curve
IEEE Transactions on Robotics
| Hi-index | 0.00 |
Snake robots have many degrees of freedom, which makes them both extremely versatile and complex to control. They are often controlled with gaits, coordinated cyclic patterns of joint motion. Using gaits simplifies the design of high-level controllers, but shifts the complexity burden to designing the gaits. In this paper, we address the gait design problem by introducing two algorithms: Annealed chain fitting and Keyframe wave extraction. Annealed chain fitting efficiently maps a continuous backbone curve describing the three-dimensional shape of the robot to a set of joint angles for a snake robot. Keyframe wave extraction takes joint angles fit to a sequence of backbone curves and identifies parameterized periodic functions that produce those sequences. Together, they allow a gait designer to conceive a motion in terms three-dimensional shapes and translate them into easily manipulated wave functions, and so unify two previously disparate gait design approaches. We validate the algorithms by using them to produce rolling and sidewinding gaits for crawling and climbing, with results that match previous empirical investigations.