高技术通讯2016，Vol.26Issue(4)：381-388,8.DOI:10.3772/j.issn.1002-0470.2016.04.008
蛇形机器人伸缩运动性能研究
Study on concertina locomotion performance of a snake-like robot
摘要
Abstract
In order to study the relationship between the performance of a snake-like robot ’ s concertina locomotion and the friction coefficient , the ground contact mechanisms of orthogonal series snak-like robots were designed by using the unidirectional passive wheel and the bidirectional passive wheel , respectively .The serpenoid curve formula was used to control the rhythm of vertical joints to realize the concertina locomotion .The influence of the frictional coef-ficient on the concertina locomotion gait of the robot using unidirectional passive wheel and the robot using bidirec -tional passive wheel , as well as the corresponding parameter adjustment strategies of the serpenoid curve formula , were found through aseries of experiments .关键词
蛇形机器人/单向被动轮/双向被动轮/摩擦系数/伸缩运动Key words
snake-like robot/unidirectional passive wheel/bidirectional passive wheel/frictional coefficient/concertina locomotion引用本文复制引用
卢振利,谢亚飞,张国栋,张凯,刘超,冯大宇,李斌..蛇形机器人伸缩运动性能研究[J].高技术通讯,2016,26(4):381-388,8.基金项目
国家自然科学基金（61333016），机器人学国家重点实验室开放基金（2014-O08），校新引进教师科研启动项目（XZ1306）和葡萄牙科技部基金（CIENCIA2007）资助项目。 （）
