Generation of Efficient Rectilinear Gait Based on Dynamic Morphological Computation and Its Theoretical Analysis

摘要

Particular tasks performed in narrow and confined spaces require a capability of passing through a limited pathway. Consequently, previous research developed a snake-like robot that generates a 1-D rectilinear gait with an appropriate mechanical design. In contrast, a rigorous mathematical model and its theoretical analysis framework is still lacking, which are inevitable for locomotion control and performance optimization. Under such background, this letter introduces a modified snake-like robot model with additional oscillation elements. Efficient and stable rectilinear gait is generated via positively utilizing the resonance effect. Moreover, linear components associate with oscillation properties are extracted from the nonlinear dynamical system. Accordingly, theoretical analysis based on dynamic morphological computation demonstrates that resonance curves of the linear oscillator can indeed elucidate the locomotion performance quite well. This enables estimation of the optimal parameters for locomotion control by conveniently calculating the resonance curve instead of solving the nonlinear equation of motion. Our methods provide a novel approach for theoretical analysis and performance optimization of locomotion robots with periodical gaits.