TY - GEN
T1 - Design and Research of a Snake-Like Robot Based on Orthogonal Joint and Wheel Modules
AU - Shi, Ran
AU - Zhang, Hailong
AU - Cheng, Kaiwen
AU - Lou, Yunjiang
AU - Qi, Zezheng
AU - Hao, Shibing
AU - Zhang, Qianqian
AU - Bao, Danyang
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - Based on the research and analysis of the snake robot at home and abroad, combined with its structural design and theoretical status, a snake robot based on orthogonal joint and wheel modules connection is designed and studied, which can solve a variety of practical ground environment, overcome the limitation that the work space is two-dimensional plane, combined with the complex terrain environment of practical application scenes. Through the control terminal provided by the WEB service of Raspberry Pi deployed, the serpentine robot can realize 3D movement in the working space, high-speed movement on flat terrain, plane turning detour, and has the ability to cross obstacles, grooving terrain and other complex terrain environment. Meanwhile, users can record, take photos, move and other commands through the WEB interface. The motion control system of the snake robot mainly consists of four parts: main controller, visual imaging module, power module and signal source. Remote control can be realized by wireless remote control or WEB control. The WEB control end can provide real-time infrared thermal imaging, RGB images and audio feedback.
AB - Based on the research and analysis of the snake robot at home and abroad, combined with its structural design and theoretical status, a snake robot based on orthogonal joint and wheel modules connection is designed and studied, which can solve a variety of practical ground environment, overcome the limitation that the work space is two-dimensional plane, combined with the complex terrain environment of practical application scenes. Through the control terminal provided by the WEB service of Raspberry Pi deployed, the serpentine robot can realize 3D movement in the working space, high-speed movement on flat terrain, plane turning detour, and has the ability to cross obstacles, grooving terrain and other complex terrain environment. Meanwhile, users can record, take photos, move and other commands through the WEB interface. The motion control system of the snake robot mainly consists of four parts: main controller, visual imaging module, power module and signal source. Remote control can be realized by wireless remote control or WEB control. The WEB control end can provide real-time infrared thermal imaging, RGB images and audio feedback.
KW - Disaster rescue
KW - Orthogonal-joint modules
KW - Snake-like robot
KW - Wheel modules
UR - https://www.scopus.com/pages/publications/85175976298
U2 - 10.1007/978-981-99-6483-3_29
DO - 10.1007/978-981-99-6483-3_29
M3 - 会议稿件
AN - SCOPUS:85175976298
SN - 9789819964826
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 335
EP - 346
BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
A2 - Yang, Huayong
A2 - Zou, Jun
A2 - Yang, Geng
A2 - Ouyang, Xiaoping
A2 - Liu, Honghai
A2 - Wang, Zhiyong
A2 - Yin, Zhouping
A2 - Liu, Lianqing
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Y2 - 5 July 2023 through 7 July 2023
ER -