Turning strategy of snake-like robot based on serpenoid curve under cloud assisted smart conditions
- 220 Downloads
This paper presents a turning strategy of snake-like robot based on Serpenoid curve. By using four criteria to judge turning control approaches on the basis of serpenoid curve, three commonly used turning control approaches (i.e., central value modulation method, phase modulation method and amplitude modulation method) are first analyzed. Then the tangent control approach and the combination control approach are used to solve turning challenges such as deficiency in maintaining the serpenoid curve, limited turning angle, discontinuous joint angle, large turning radius and large amplitude of joint angle variation during and after turning. These approaches were tested and verified by using a snake-like robot prototype. It is found that the proposed approaches work well for the turning locomotion of the snake-like robot. The present turning strategy provides an important alternative for locomotion control of the snake-like robot.
KeywordsSnake-like robot Serpenoid curve Turning strategy Control approach
This work was supported by the national defense basic research and development plan of the assembly support.
Compliance with ethical standards
Conflict of interest
The authors declare that there is no conflict of interests regarding the publication of this paper.
- 1.Endo, G., Togawa, K., Hirose, S.: Study on self-contained and terrain adaptive active cord mechanism. In: IEEE International Conference on Intelligent Robots and Systems, pp. 1399–1405 (1999)Google Scholar
- 3.Yamada, H., Hirose, S.: Study on the 3D shape of active cord mechanism. In: Proceedings of the IEEE International Conference on robotics and Automation, pp. 2890–2895. Orlando, USA (2006)Google Scholar
- 7.Sudipta, S., Bose, R., Sarddar, D.: Server utilization-based smart temperature monitoring system for cloud data center. Industry Interactive Innovations in Science, Engineering and Technology, pp. 309–319. Springer, Singapore (2018)Google Scholar
- 8.Bi, C., Wang, H., Bao, R.: SAR image change detection using regularized dictionary learning and fuzzy clustering. In: 2014 IEEE 3rd International Conference on Cloud Computing and Intelligence Systems (CCIS), pp. 327–330. IEEE (2014, November)Google Scholar
- 10.Wang, S., et al.: Cloud-assisted interaction and negotiation of industrial robots for the smart factory. Comput. Electr. Eng. (2017)Google Scholar
- 14.Bakshi, S., et al.: Fast periocular authentication in handheld devices with reduced phase intensive local pattern. Multimed. Tools Appl. 1–29 (2017)Google Scholar
- 15.Wang, H., Wang, J.: An effective image representation method using kernel classification. In: 2014 IEEE 26th International Conference on Tools with Artificial Intelligence (ICTAI), pp. 853–858. IEEE (2014 November)Google Scholar
- 17.Sangaiah, A.K., Samuel, O.W., Li, X., Abdel-Basset, M., Wang, H.: Towards an efficient risk assessment in software projects–Fuzzy reinforcement paradigm. Comput. Electr. Eng. (2017)Google Scholar
- 20.Li, B., Ye, C.: Study on autonomous control of the snake-like robot movement on a plane. Ghin. High Technol. Lett. 15(2) (2005)Google Scholar
- 21.Hirose, S.: Biologically Inspired Robots—Snake-like Locomotors and Manipulators. Oxford University Press, Oxford (1993)Google Scholar
- 22.Ma, S.G., Hiroaki, A., Li, L.: Development of a creeping snake-robot. Int. J. Robot. Autom. 17(4), 146–153 (2002)Google Scholar
- 24.Nor, N.M., Ma, S.: CPG-based locomotion control of a snake-like robot for obstacle avoidance. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 347–352. Hong Kong (2014)Google Scholar
- 25.Wu, X.: CPG-Based Neural Controller for Serpentine Locomotion of a Snake-Like Robot, Doctoral Dissertation, Science and Engineering. Ritsumeikan University, Kyoto (2011)Google Scholar
- 26.Wu, X., Ma, S.: Autonomous collision-free behavior of a snakelike robot. In: Proceedings of the 2010 IEEE International Conference on Robotics and Biomimetics. Tianjin, China (2010)Google Scholar
- 27.Wang, C., Deng, H.b., Xia, F., Li, Y.: Study on climbing locomotion mechanism of snake robot with universal unit. In: 2016 8th International Conference on Modelling, Identification and Control (ICMIC). pp. 460–465, Algiers (2016)Google Scholar