Event
Novel snake robot gait reduces peak joint power by 42%
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Qingling Fan and Zhongqiang Ren propose a torsional sidewinding gait generated by a linear torsion function, distributing torsional load across the entire robot body instead of concentrating it in the two middle torsional joints as in the existing rolling-vector method. Under matched steering speed and total output power, the new gait reduces the peak output power of a single torsional joint by 42%. Physical robot experiments show that this gait can traverse multiple terrains that the existing rolling-vector method cannot, and is up to 49% faster than the traditional sidewinding gait without torsion.
Report timeline
- Linear Twisting Sidewinding Gait Motion Planning for Snake Robots on Complex Terrain
The study proposes a linear twisting function that distributes torsional load across the entire body of a snake robot, replacing the existing rolling vector method's approach of concentrating it in two middle twisting joints. Under matched turning speed and total output power, the new gait reduces the peak output power of a single twisting joint by 42%. Real-robot experiments show it can move on various terrains that the existing rolling vector method cannot traverse, and is up to 49% faster than the traditional sidewinding gait without twisting.
arXiv cs.RO ·