基于插值思想的蛇形机器人运动规划  

Research on motion planning of snake- like robot based on interpolation idea

作　　者：赵卫涛[1] 彭书华[1] 

机构地区：[1]北京信息科技大学自动化学院,北京100192

出　　处：《北京信息科技大学学报（自然科学版）》2014年第1期53-57,共5页Journal of Beijing Information Science and Technology University

基　　金：国家自然科学基金资助项目(51077005);产学研联合培养研究生资助项目(71C1311016)

摘　　要：针对关节数较多的蛇形机器人在运动规划中较多参量不便推导的情况,以Serpenoid曲线为基础,提出在运动规划中用插值思想来设置有效的运动数据。设计了一种结构简单、成本较低,能够在二维和三维空间中较为灵活运动的16关节蛇形机器人,实验结果表明,蛇形机器人能实现翻滚、弓字形爬行、盘曲、抬头、俯扑等多种动作方式,证实了插值思想在运动规划中的方便性和有效性。Based on Serpenoid curve, to solve the problem that many parameters in snake-like robots with more joints are hard to derive in motion planning, it is put forward that effective motion data are set up by interpolation in motion planning. A 16 joint robot is designed with simple structure, lower cost, and flexible movement in 2D and 3 D space. Through the experiment, the snake-like robot realizes various operation mode, such as the rolling, bow line crawling, twisting,head raising, lying on belly and so on. The results show convenience and effectiveness of interpolation in motion planning.

关 键 词：结构 三维 蛇形机器人 插值思想 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]