内蒙古民族大学学报（自然科学版）2024，Vol.39Issue(4)：63-66,4.DOI:10.14045/j.cnki.15-1220.2024.04.012
基于ROS的蛇形机器人控制系统设计
Design of a Snake Robot Control System Based on ROS
摘要
Abstract
The snake robot features a highly redundant body structure and diverse patterns of movement.To val-idate its control algorithm,a stable,reliable and highly scalable control system is required.In this study,we designed and developed a snake robot consisting of orthogonal joint units and proposed a control system design based on the ROS(Robot Operating System).The control system is divided into application layer,decision layer and motion con-trol layer,with clear division of responsibilities and low coupling,thereby enhancing system stability and scalability.The motion patterns of the snake robot were planned using the curve discretization method and tests were conducted for serpentine locomotion and sidewinding locomotion.Experimental results show that the basic motion control strate-gy is effective for the robot,demonstrating the feasibility and practicality of the design scheme.关键词
蛇形机器人/ROS/控制系统/蜿蜒运动/侧移运动Key words
snake robot/ROS/control system/serpentine locomotion/sidewinding locomotion分类
信息技术与安全科学引用本文复制引用
齐伟,迎春,陈雪艳,范晓静,吴赟,刘斌..基于ROS的蛇形机器人控制系统设计[J].内蒙古民族大学学报（自然科学版）,2024,39(4):63-66,4.基金项目
内蒙古自治区自然科学基金项目(2021LHMS06008,2024LHMS06016) （2021LHMS06008,2024LHMS06016）
内蒙古自治区高等学校科学研究项目(NJZZ21028) （NJZZ21028）
内蒙古自治区直属高校基本科研业务费项目(GXKY22123,GXKY22045) （GXKY22123,GXKY22045）
内蒙古民族大学博士科研启动基金项目(BS505) （BS505）
