Knowledge Commons of Institute of Automation，CAS
| A Constrained Path Following Method for Snake-like Manipulators via Controlled Winding Uncoiling Strategy | |
Mingrui, Luo1,2; Yunong, Tian1,2 ; Yinghua, Cao1,2; Minghao, Chen1,2; Yanfeng, Zhang1,2; En, Li1,2; Min, Tan2
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| 2024 | |
| 会议名称 | 2024 IEEE International Conference on Robotics and Automation (ICRA 2024) |
| 会议日期 | 2024-5-13 |
| 会议地点 | Yokohama, Japan |
| 摘要 | Benefting from its hyper-redundant structure, the biomimetic snake-like manipulator retains its remarkable fexibility even within confned spaces. However, its motion planning and control pose signifcant challenges. This paper imitates the winding uncoiling behavior of snakes to achieve controllable constrained path following. Firstly, based on control points, a recursive computational model and an equivalent planning angle model are established, enabling effcient and analytical determination of joint positions, collision regions, and motion parameters during the path following. Subsequently, the sliding control point algorithm and motion smoothing restriction algorithm are designed. The former ensures that the remaining segments during following strictly remain within the collision free regions defned by the base and path controls, while the latter smooths the control parameters based on velocity and acceleration limitations. Finally, simulation and practical experiments demonstrate the feasibility of the proposed methods. The prototype that applied our method can reach targets and accomplish tasks, further validating the applicability of the snake-like manipulator. |
| 收录类别 | EI |
| 七大方向——子方向分类 | 智能机器人 |
| 国重实验室规划方向分类 | 高通过性仿生机器人 |
| 是否有论文关联数据集需要存交 | 否 |
| 文献类型 | 会议论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/57114 |
| 专题 | 中国科学院工业视觉智能装备工程实验室 |
| 通讯作者 | En, Li |
| 作者单位 | 1.the Engineering Laboratory of Industrial Vision and Intelligent Equipment Technology, Institute of Automation, Chinese Academy of Sciences 2.the School of Artifcial Intelligence, University of Chinese Academy of Sciences |
| 第一作者单位 | 中国科学院自动化研究所 |
| 通讯作者单位 | 中国科学院自动化研究所 |
| 推荐引用方式 GB/T 7714 | Mingrui, Luo,Yunong, Tian,Yinghua, Cao,et al. A Constrained Path Following Method for Snake-like Manipulators via Controlled Winding Uncoiling Strategy[C],2024. |
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| 二作论文8-罗明睿：A Constrai（5791KB） | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 | ||
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