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...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Zhiyong Yang, Zihao Zhang, Qiao Fang, Daode Zhang, Xing Liu, Fan Wang
Formato:	article
Lenguaje:	EN
Publicado:	Wiley 2021
Materias:	Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/715811977848421ca2e6ece8d9229774
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:715811977848421ca2e6ece8d9229774
record_format	dspace
spelling	oai:doaj.org-article:715811977848421ca2e6ece8d92297742021-11-05T05:26:52ZResearch on obstacle climbing gait of snake‐like robot on high‐voltage cables cables1350-911X0013-519410.1049/ell2.12296https://doaj.org/article/715811977848421ca2e6ece8d92297742021-11-01T00:00:00Zhttps://doi.org/10.1049/ell2.12296https://doaj.org/toc/0013-5194https://doaj.org/toc/1350-911XAbstract 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.Zhiyong YangZihao ZhangQiao FangDaode ZhangXing LiuFan WangWileyarticleElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENElectronics Letters, Vol 57, Iss 23, Pp 865-868 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Electrical engineering. Electronics. Nuclear engineering TK1-9971 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
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.
format	article
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
title	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_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_sort	research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables
publisher	Wiley
publishDate	2021
url	https://doaj.org/article/715811977848421ca2e6ece8d9229774
work_keys_str_mv	AT zhiyongyang researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables AT zihaozhang researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables AT qiaofang researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables AT daodezhang researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables AT xingliu researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables AT fanwang researchonobstacleclimbinggaitofsnakelikerobotonhighvoltagecablescables
_version_	1718444475233075200

Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables

Ejemplares similares