Study on Head Stabilization Control Strategy of Non-Wheeled Snake Robot Based on Inertial Sensor

摘要

In this paper, the head stabilization problem of the snake robot in planar motion is studied. When the snake robot performs a planar movement with an inchworm locomotion gait, the head controller of the snake robot swings up and down due to a fluctuation in the joint angle of the neck joint. However, the snake robot usually has a laser radar and other visual instruments on the head, and the swing of the head causes the visual instrument to fail to obtain external visual information normally, which affects the navigation and detection of the snake robot. In this paper, a head stabilization method for a snake robot in planar motion is proposed. The inertial sensor is used to obtain the direction parameters to control the swing of the head when the snake robot moves, and the effectiveness of the method is verified by a simulation and an experiment of the real robot.