Adaptive Climbing Gait Design of Snake Robot Based on Extended Kalman Filter

We propose a method of climbing pipe with different diameter, which enables snake robot to divide itself into 3 parts to complete transition on the pipe according to the joints’ state for now. To avoid controlling the robot from building dynamic model, a gait-based open-loop control framework is ado...

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Bibliographic Details
Published in:Journal of physics. Conference series 2022-01, Vol.2183 (1), p.12003
Main Authors: Han, Siwei, Xiao, Wenyu, Yu, Zheng-hong, Wei, Wu
Format: Article
Language:English
Subjects:
Dynamic models
Extended Kalman filter
Gait
Parameters
Physics
Pipes
Robots
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Summary:We propose a method of climbing pipe with different diameter, which enables snake robot to divide itself into 3 parts to complete transition on the pipe according to the joints’ state for now. To avoid controlling the robot from building dynamic model, a gait-based open-loop control framework is adopted. An extended kalman filter (EKF) is applied here to estimate the adaptive parameter of gait-based function for different 3 parts and corresponding joints. The adaptive parameter will help snake robot perceive the environment better and climb the pipe more steadily.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2183/1/012003