The Omega Turn: A Biologically-Inspired Turning Strategy for Elongated Limbless Robots

摘要

Snake robots have the potential to locomote through tightly packed spaces, but turning effectively within unmodelled and unsensed environments remains challenging. Inspired by a behavior observed in the tiny nematode worm C. elegans, we propose a novel in-place turning gait for elongated limbless robots. To simplify the control of the robots' many internal degrees-of-freedom, we introduce a biologically-inspired template in which two co-planar traveling waves are superposed to produce an in-plane turning motion, the omega turn. The omega turn gait arises from modulating the wavelengths and amplitudes of the two traveling waves. We experimentally test the omega turn on a snake robot, and show that this turning gait outperforms previous turning gaits: it results in a larger angular displacement and a smaller area swept by the body over a gait cycle, allowing the robot to turn in highly confined spaces.