Aiming at high performance requirements of snake-like robots under complex environment, we present a control system of our\nproposed design which utilizes a STM32 as the core processor and incorporates real-time image acquisition, multisensor fusion,\nand wireless communication technology. We use Solidworks to optimize the design of head, body, and tail joint structure of the\nsnake-like robot. The system is a real-time system with a simple-circuit structure and multidegrees of freedom are attributed to\nthe flawless design of control system and mechanical structure.We propose a controlmethod based on our simplified CPG model.\nMeanwhile, we improve Serpenoid control function and then investigate howdifferent parameters affect the motion gait in terms of\nADAMS emulation. Finally, experimental results show that the snake-like robot can tackle challenging problems including multiinformation\nacquisition and processing, multigait stability, and autonomous motion and further verify the reliability and accuracy\nof the system in our combinatory experiments.
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