TY - GEN
T1 - Design of a Hierarchical Control System for Tetherless Snake Robot
AU - Ni, Fenglei
AU - Li, Yongqiang
AU - Zhou, Yunhu
AU - Zhao, Liangliang
AU - Liu, Hong
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - In this paper, a hierarchical control architecture for the tetherless snake robot is presented, which is a modular, flexible, easily expanded and highly autonomous system. The control system is divided into three layers. The human-computer interaction layer is used to detect the environment and operate the robot. The head controller layer includes a compute stick, a camera and a communication unit, which communicates with PC via Wifi. The joint layer is used for motor-driven control and data acquisition. The multisensory system and hardware architecture provide the snake robot with the ability to sense the state of itself and the environment. Finally, the platform was build to carry out experiment and several gaits were adopted to evaluate the performance of the hierarchical control system.
AB - In this paper, a hierarchical control architecture for the tetherless snake robot is presented, which is a modular, flexible, easily expanded and highly autonomous system. The control system is divided into three layers. The human-computer interaction layer is used to detect the environment and operate the robot. The head controller layer includes a compute stick, a camera and a communication unit, which communicates with PC via Wifi. The joint layer is used for motor-driven control and data acquisition. The multisensory system and hardware architecture provide the snake robot with the ability to sense the state of itself and the environment. Finally, the platform was build to carry out experiment and several gaits were adopted to evaluate the performance of the hierarchical control system.
KW - Hierarchical control system
KW - SOPC embedded system
KW - Tetherless snake robot
UR - https://www.scopus.com/pages/publications/85072371783
U2 - 10.1109/ICMA.2019.8816398
DO - 10.1109/ICMA.2019.8816398
M3 - 会议稿件
AN - SCOPUS:85072371783
T3 - Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
SP - 1254
EP - 1259
BT - Proceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
Y2 - 4 August 2019 through 7 August 2019
ER -