Abstract
Based on the research and analysis of the snake robot at home and abroad, combined with its structural design and theoretical status, a snake robot based on orthogonal joint and wheel modules connection is designed and studied, which can solve a variety of practical ground environment, overcome the limitation that the work space is two-dimensional plane, combined with the complex terrain environment of practical application scenes. Through the control terminal provided by the WEB service of Raspberry Pi deployed, the serpentine robot can realize 3D movement in the working space, high-speed movement on flat terrain, plane turning detour, and has the ability to cross obstacles, grooving terrain and other complex terrain environment. Meanwhile, users can record, take photos, move and other commands through the WEB interface. The motion control system of the snake robot mainly consists of four parts: main controller, visual imaging module, power module and signal source. Remote control can be realized by wireless remote control or WEB control. The WEB control end can provide real-time infrared thermal imaging, RGB images and audio feedback.
Supported by the National Key Research and Development Program of China (No. SQ2020YFB130197) and ShenZhen Polytechnic Program(6022310021K) and 2022 Shenzhen Outstanding Scientific and Technological Innovation Talents Training (Doctoral basic research start), Project number :RCBS20210706092213010.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Hirose, S.: Biologically Inspired Robots: Snake-like Locomotors and Manipulators. Oxford University Press, Oxford (1993)
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)
Mori, M., Hirose, S.: Three-dimensional serpentine motion an ad lateral rolling by active cord mechanism ACM-R3. In: Intelligent Robots and Systems. IEEE/RSJ International Conference on IEEE, vol. 1, pp. 829–834 (2002)
Takaoka, S., Yamada, H., Hirose, S.: Snake-like active wheel robot ACM-R4. 1 with joint torque sensor and limiter. In: Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on IEEE, pp. 1081–1086 (2011)
Yamada, H., Takaoka, S., Hirose, S.: A snake-like robot for real-world inspection applications (the design and control of a practical active cord mechanism). Adv. Robot. 27(1), 47–60 (2013)
Ohashi, T., Yamada, H., Hirose, S.: Loop forming snake-like robot ACM-R7 and its Serpenoid oval control. In: Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on IEEE, pp. 413–418 (2010)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Shi, R. et al. (2023). Design and Research of a Snake-Like Robot Based on Orthogonal Joint and Wheel Modules. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14267. Springer, Singapore. https://doi.org/10.1007/978-981-99-6483-3_29
Download citation
DOI: https://doi.org/10.1007/978-981-99-6483-3_29
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-6482-6
Online ISBN: 978-981-99-6483-3
eBook Packages: Computer ScienceComputer Science (R0)