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Head-Raising Method of Snake Robots Based on the Bézier Curve

Published online by Cambridge University Press:  30 June 2020

Yunhu Zhou
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China
Yuanfei Zhang*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China
Fenglei Ni
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China
Hong Liu
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China
*
*Corresponding author. E-mail: [email protected]

Summary

For acquiring a broad view in an unknown environment, we proposed a control strategy based on the Bézier curve for the snake robot raising its head. Then, an improved discretization method was developed to accommodate the backbone curves with more complex shapes. Besides, in order to determine the condition of using the improved discretization method, energy of framed space curve is introduced originally to estimate the shape complexity of the backbone curve. At last, based on degree elevation of the Bézier curve, an obstacle avoidance strategy of the head-raising motion was proposed and validated through simulation.

Type
Articles
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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