Realization of Crowded Pipes Climbing Locomotion of Snake Robot Using Hybrid Force-Position Control Method

The movement capabilities of snake robots allow them to be applied in a variety of applications. We realized a snake robot climbing in crowded pipes. In this paper, we implement a sinusoidal curve control method that allows the snake robot to move faster. The control method is composed of a hybrid f...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2022-11, Vol.22 (22), p.9016
Main Authors: Wang, Yongdong, Kamegawa, Tetsushi
Format: Article
Language:English
Subjects:
Analysis
Control methods
crowded pipes
Design
Equipment Design
Experiments
hybrid force–position control
Locomotion
Methods
Pipes
Robot dynamics
Robotics - methods
Robotics industry
Robots
sinusoidal curve
snake robot
Snakes
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Summary:The movement capabilities of snake robots allow them to be applied in a variety of applications. We realized a snake robot climbing in crowded pipes. In this paper, we implement a sinusoidal curve control method that allows the snake robot to move faster. The control method is composed of a hybrid force-position controller that allows the snake robot to move more stably. We conducted experiments to confirm the effectiveness of the proposed method. The experimental results show that the proposed method is stable and effective compared to the previous control method that we had implemented in the snake robot.
ISSN:1424-8220
1424-8220
DOI:10.3390/s22229016