Title: Implementation of helical wave propagation motion in snake robot moving on exterior of a pipe
Authors: Wei Qi; Tetsushi Kamegawa; Akio Gofuku
Addresses: Graduate School of Natural Science and Technology, Okayama University, Okayama-shi, Okayama, Japan ' Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University, Okayama-shi, Okayama, Japan ' Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University, Okayama-shi, Okayama, Japan
Abstract: In this study, we developed a snake robot that goes through a branch point on exterior of a pipe in a helical shape. A hyperbolic function is utilised to generate a wave along the helical curve. The joint angles of the snake robot are derived by calculating the curvature and torsion of the curve by using the formula of the continuous curve model. We implemented the new motion in a real snake robot by considering parameters of the curve. In addition, we propose a method to compensate for the effect of gravity to achieve the motion by a real snake robot. Experimental results are shown to validate the effectiveness of the proposed method.
Keywords: snake robot; helical wave propagation motion; hyperbolic function; pipe with branch.
International Journal of Advanced Mechatronic Systems, 2017 Vol.7 No.6, pp.359 - 367
Received: 24 Apr 2018
Accepted: 10 Jul 2018
Published online: 17 Apr 2019 *