Open AccessMotion simulation of a tensegrity snake-like robot based on the serpenoid curve
Author(s) -
Yihang Wang,
Xiaoshi Zhang,
Xin Li,
Junguo He
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1965/1/012033
Subject(s) - robot , tensegrity , inverse kinematics , kinematics , robot locomotion , motion (physics) , computer science , robot kinematics , rotation (mathematics) , simulation , artificial intelligence , engineering , mobile robot , robot control , physics , structural engineering , classical mechanics
Due to their good motion performance, snake-like robots have been widely studied and researched for years and still have a lot of research interest. In this paper, we propose a snake-like robot based on tensegrity structure. Our snake-like robot is driven with cables on both sides, which is different from the serial structure snake-like robots driving by the motor at the axis of rotation. In order to verify the feasibility of the snake-like robot motion, we studied its inverse kinematics and performed simulation based on the serpenoid curve.