A spring-like pipe climbing gait for the snake robot

Yunhu Zhou; Yuanfei Zhang; Fenglei Ni; Hong Liu

doi:10.1109/ROBIO.2017.8324694

A spring-like pipe climbing gait for the snake robot

Yunhu Zhou
, Yuanfei Zhang^*
, Fenglei Ni
, Hong Liu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

In this paper, a spring-like type of robot climbing pipe gait is proposed for solving the problem that the existing climbing pipe have a high demand of continuity of the pipe. The gait is based on a mode that the snake robot model stretches like a spring. In order to realize the above-mentioned gait, a spatial curve with a functional partition is designed. Then, based on the general parameter, a discretization method of the curve with variable curvature and torsion is used to discretize the curve. Finally, the mode of motion for the gait is designed by the division of functional areas. And simulation results verify that the gait can complete the tasks of climbing over a stepped shaft and a discontinuous pipe.

Original language	English
Title of host publication	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1886-1891
Number of pages	6
ISBN (Electronic)	9781538637418
DOIs	https://doi.org/10.1109/ROBIO.2017.8324694
State	Published - 2 Jul 2017
Event	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: 5 Dec 2017 → 8 Dec 2017

Publication series

Name	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume	2018-January

Conference

Conference	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country/Territory	China
City	Macau
Period	5/12/17 → 8/12/17

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10.1109/ROBIO.2017.8324694

Cite this

Zhou, Y., Zhang, Y., Ni, F., & Liu, H. (2017). A spring-like pipe climbing gait for the snake robot. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (pp. 1886-1891). (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324694

@inproceedings{6f1e22c91fcb4ab68fda6bdf74ba695b,

title = "A spring-like pipe climbing gait for the snake robot",

abstract = "In this paper, a spring-like type of robot climbing pipe gait is proposed for solving the problem that the existing climbing pipe have a high demand of continuity of the pipe. The gait is based on a mode that the snake robot model stretches like a spring. In order to realize the above-mentioned gait, a spatial curve with a functional partition is designed. Then, based on the general parameter, a discretization method of the curve with variable curvature and torsion is used to discretize the curve. Finally, the mode of motion for the gait is designed by the division of functional areas. And simulation results verify that the gait can complete the tasks of climbing over a stepped shaft and a discontinuous pipe.",

author = "Yunhu Zhou and Yuanfei Zhang and Fenglei Ni and Hong Liu",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 ; Conference date: 05-12-2017 Through 08-12-2017",

year = "2017",

month = jul,

day = "2",

doi = "10.1109/ROBIO.2017.8324694",

language = "英语",

series = "2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1886--1891",

booktitle = "2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017",

address = "美国",

}

Zhou, Y, Zhang, Y , Ni, F & Liu, H 2017, A spring-like pipe climbing gait for the snake robot. in 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 1886-1891, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, China, 5/12/17. https://doi.org/10.1109/ROBIO.2017.8324694

A spring-like pipe climbing gait for the snake robot. / Zhou, Yunhu; Zhang, Yuanfei ; Ni, Fenglei et al.
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1886-1891 (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A spring-like pipe climbing gait for the snake robot

AU - Zhou, Yunhu

AU - Zhang, Yuanfei

AU - Ni, Fenglei

AU - Liu, Hong

PY - 2017/7/2

Y1 - 2017/7/2

N2 - In this paper, a spring-like type of robot climbing pipe gait is proposed for solving the problem that the existing climbing pipe have a high demand of continuity of the pipe. The gait is based on a mode that the snake robot model stretches like a spring. In order to realize the above-mentioned gait, a spatial curve with a functional partition is designed. Then, based on the general parameter, a discretization method of the curve with variable curvature and torsion is used to discretize the curve. Finally, the mode of motion for the gait is designed by the division of functional areas. And simulation results verify that the gait can complete the tasks of climbing over a stepped shaft and a discontinuous pipe.

AB - In this paper, a spring-like type of robot climbing pipe gait is proposed for solving the problem that the existing climbing pipe have a high demand of continuity of the pipe. The gait is based on a mode that the snake robot model stretches like a spring. In order to realize the above-mentioned gait, a spatial curve with a functional partition is designed. Then, based on the general parameter, a discretization method of the curve with variable curvature and torsion is used to discretize the curve. Finally, the mode of motion for the gait is designed by the division of functional areas. And simulation results verify that the gait can complete the tasks of climbing over a stepped shaft and a discontinuous pipe.

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M3 - 会议稿件

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BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

Y2 - 5 December 2017 through 8 December 2017

ER -

A spring-like pipe climbing gait for the snake robot

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