Simulation and Experimental Study of an Energy-based Control Method for the Serpentine Locomotion of a Snake-like Robot
基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究

Energy plays an important role in the serpentine locomotion of a snake-like robot. The energy dissipation describes the environmental interaction; the energy transformation reflects the locomotion dynamics; the energy balance relates to the locomotion coordination. An energy-based control method for a snake-like robot, named passive creeping, is proposed. This method controls the robot by using torque inputs which are adjusted by the robot's energy state. In simulation, the configurations, angles, torques, energy states, and turning characteristics are revealed, and the torque data are analyzed by using a recurrence plot. Based on an Optotrak motion capture system, a virtual/physical mixed experimental system is constructed. A locomotion experiment and a drag experiment are performed. The former changes the environment, and the latter alters the payload. The simulations and experiments demonstrate the validity and adaptability of the passive creeping.