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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 Open the ORCID record for Yunhu Zhou [Opens in a new window] ,
Yuanfei Zhang ,
Fenglei Ni  and
Hong Liu
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: yuanfei.zhang@hit.edu.cn
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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.

Keywords

Head-raisingBackbone curveBézier curveDiscretizationObstacle avoidance
Type
Articles
Information
Robotica , Volume 39 , Issue 3 , March 2021 , pp. 503 - 523
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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