Present Situation and Development Tendency of Snake-like Robots

Abstract

Abstract:

A literature survey of researches on snake-likes was provided regarding morphology, modeling of kinematics and dynamics, locomotion control and stability. The analyses and summary were made according to the two-dimensional and three-dimensional locomotions. Classifications of snake-like robots were presented due to the differences of structures and movement types. Finally, the development of snake-like robots in future was predicted.

Key words: locomotion, kinematics, dynamics, control method, stability

摘要：

对国内外蛇形机器人进行了研究和分析，将其分为形态研究、运动学和动力学模型、步态控制及稳定性等研究内容，从二维运动和三维运动角度，对研究内容进行了综述、分析和总结。结合蛇形机器人的结构和运动步态特点，对国内外研制的蛇形机器人进行了分类，最后对蛇形机器人的研究发展进行了展望。

关键词: 运动步态, 运动学, 动力学, 控制方法, 稳定性

CLC Number:

TP242

Su Zhong, Zhang Shuangbiao, Li Xingcheng. Present Situation and Development Tendency of Snake-like Robots[J]. China Mechanical Engineering, 2015, 26(3): 414-425.

苏中, 张双彪, 李兴城. 蛇形机器人的研究与发展综述[J]. 中国机械工程, 2015, 26(3): 414-425.

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