Open AccessAdaptive Climbing Gait Design of Snake Robot Based on Extended Kalman Filter
Author(s) -
Siwei Han,
Wenyu Xiao,
Zhenghong Yu,
Wei Wu
Publication year - 2022
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 - 10.1088/1742-6596/2183/1/012003
Subject(s) - climb , extended kalman filter , climbing , gait , robot , kalman filter , control theory (sociology) , computer science , control engineering , artificial intelligence , engineering , simulation , control (management) , physical medicine and rehabilitation , structural engineering , medicine , aerospace engineering
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.