Research on redundancy control system for snake robot

A kind of high redundancy control system of snake robot is investigated by studying the redundancy control and combining the mechanism of annelid's nervous system with circulation system. The system consists of a three-tier communication bus and a variable information channel structure. As some...

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Bibliographic Details
Main Authors: Yanzheng Li, Yana Peng, Limei Xu, Xuesheng Li, Yuzhuo Ren, Huiquan Liu
Format: Conference Proceeding
Language:English
Subjects:
Annelid
Bluetooth
Control systems
Engines
Joints
Monitoring
Redundancy
Redundancy control
Robots
Snake robot
Online Access:Request full text
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Summary:A kind of high redundancy control system of snake robot is investigated by studying the redundancy control and combining the mechanism of annelid's nervous system with circulation system. The system consists of a three-tier communication bus and a variable information channel structure. As some local damage exists, the communication system rebuilds the connection with undamaged nodes by changing the channel structure adaptively. Power management, motion control and damage test are optimized to improve the reliability of the system. The robot system with great redundancy is demonstrated based on the simulation of validating scene in the complex environment, which can provide technical support for engineering technology.
ISSN:2152-7431
2152-744X
DOI:10.1109/ICMA.2012.6282846