Research on obstacle climbing gait of snake‐like robot on high‐voltage cables cables

Abstract

Abstract Aiming at the gait control problem of a snake‐like inspection robot performing variable‐diameter spiral motion on high‐voltage cables, a gait generation method is proposed here, the snake‐like robot can adapt to the change in diameter when it is winding around the obstacles of high‐voltage cables. The piecewise helix is fitted with the Bezier curve of degree 3, which solves the problem of discontinuous speed and abrupt change of joint angle when the snake‐like robot moves with variable diameter, and avoids periodic motion impact. The new idea provides for the application of a snake‐like robot on high‐voltage cables.

Keywords

• Self‐adjusting control systems
• Spatial variables control
• Mobile robots
• Computational geometry