Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables
Abstract Aiming at the gait control problem of a snake‐like inspection robot performing variable‐diameter spiral motion on high‐voltage cables, a gait generation method is proposed here, the snake‐like robot can adapt to the change in diameter when it is winding around the obstacles of high‐voltage...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-11-01
|
| Series: | Electronics Letters |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/ell2.12296 |
| _version_ | 1828405888432472064 |
|---|---|
| author | Zhiyong Yang Zihao Zhang Qiao Fang Daode Zhang Xing Liu Fan Wang |
| author_facet | Zhiyong Yang Zihao Zhang Qiao Fang Daode Zhang Xing Liu Fan Wang |
| author_sort | Zhiyong Yang |
| collection | DOAJ |
| description | Abstract Aiming at the gait control problem of a snake‐like inspection robot performing variable‐diameter spiral motion on high‐voltage cables, a gait generation method is proposed here, the snake‐like robot can adapt to the change in diameter when it is winding around the obstacles of high‐voltage cables. The piecewise helix is fitted with the Bezier curve of degree 3, which solves the problem of discontinuous speed and abrupt change of joint angle when the snake‐like robot moves with variable diameter, and avoids periodic motion impact. The new idea provides for the application of a snake‐like robot on high‐voltage cables. |
| first_indexed | 2024-12-10T11:02:29Z |
| format | Article |
| id | doaj.art-715811977848421ca2e6ece8d9229774 |
| institution | Directory Open Access Journal |
| issn | 0013-5194 1350-911X |
| language | English |
| last_indexed | 2024-12-10T11:02:29Z |
| publishDate | 2021-11-01 |
| publisher | Wiley |
| record_format | Article |
| series | Electronics Letters |
| spelling | doaj.art-715811977848421ca2e6ece8d92297742022-12-22T01:51:39ZengWileyElectronics Letters0013-51941350-911X2021-11-01572386586810.1049/ell2.12296Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cablesZhiyong Yang0Zihao Zhang1Qiao Fang2Daode Zhang3Xing Liu4Fan Wang5School of Mechanical Engineering Hubei University of Technology Wuhan ChinaSchool of Mechanical Engineering Hubei University of Technology Wuhan ChinaSchool of Mechanical Engineering Hubei University of Technology Wuhan ChinaSchool of Mechanical Engineering Hubei University of Technology Wuhan ChinaSchool of Mechanical Engineering Hubei University of Technology Wuhan ChinaSchool of Mechanical Engineering Hubei University of Technology Wuhan ChinaAbstract Aiming at the gait control problem of a snake‐like inspection robot performing variable‐diameter spiral motion on high‐voltage cables, a gait generation method is proposed here, the snake‐like robot can adapt to the change in diameter when it is winding around the obstacles of high‐voltage cables. The piecewise helix is fitted with the Bezier curve of degree 3, which solves the problem of discontinuous speed and abrupt change of joint angle when the snake‐like robot moves with variable diameter, and avoids periodic motion impact. The new idea provides for the application of a snake‐like robot on high‐voltage cables.https://doi.org/10.1049/ell2.12296Self‐adjusting control systemsSpatial variables controlMobile robotsComputational geometry |
| spellingShingle | Zhiyong Yang Zihao Zhang Qiao Fang Daode Zhang Xing Liu Fan Wang Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables Electronics Letters Self‐adjusting control systems Spatial variables control Mobile robots Computational geometry |
| title | Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables |
| title_full | Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables |
| title_fullStr | Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables |
| title_full_unstemmed | Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables |
| title_short | Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables |
| title_sort | research on obstacle climbing gait of snake like robot on high voltage cables cables |
| topic | Self‐adjusting control systems Spatial variables control Mobile robots Computational geometry |
| url | https://doi.org/10.1049/ell2.12296 |
| work_keys_str_mv | AT zhiyongyang researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables AT zihaozhang researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables AT qiaofang researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables AT daodezhang researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables AT xingliu researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables AT fanwang researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables |