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Turning strategy of snake-like robot based on serpenoid curve under cloud assisted smart conditions

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Abstract

This paper presents a turning strategy of snake-like robot based on Serpenoid curve. By using four criteria to judge turning control approaches on the basis of serpenoid curve, three commonly used turning control approaches (i.e., central value modulation method, phase modulation method and amplitude modulation method) are first analyzed. Then the tangent control approach and the combination control approach are used to solve turning challenges such as deficiency in maintaining the serpenoid curve, limited turning angle, discontinuous joint angle, large turning radius and large amplitude of joint angle variation during and after turning. These approaches were tested and verified by using a snake-like robot prototype. It is found that the proposed approaches work well for the turning locomotion of the snake-like robot. The present turning strategy provides an important alternative for locomotion control of the snake-like robot.

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Acknowledgements

This work was supported by the national defense basic research and development plan of the assembly support.

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Authors and Affiliations

  1. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China

    Chao Wang, Dongfang Li, Zhenhua Pan, Hongbin Deng & Dongguang Li

  2. China North Industries Corp., Beijing, 100053, China

    Chao Wang & Bin Li

  3. Beijing Institute of Aerospace Control Decices, Beijng, 100039, China

    Yanbin Peng

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  1. Chao Wang
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  2. Yanbin Peng
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  3. Dongfang Li
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  4. Zhenhua Pan
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  7. Bin Li
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Correspondence to Hongbin Deng.

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Wang, C., Peng, Y., Li, D. et al. Turning strategy of snake-like robot based on serpenoid curve under cloud assisted smart conditions. Cluster Comput 22 (Suppl 6), 13041–13053 (2019). https://doi.org/10.1007/s10586-017-1192-x

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