Abstract
The algebraic structure and Poisson's integral of snake-like robot systems are studied. The generalized momentum, Hamiltonian function, generalized Hamilton canonical equations, and their contravariant algebraic forms are obtained for snake-like robot systems. The Lie-admissible algebra structures of the snake-like robot systems are proved and partial Poisson integral methods are applied to the snake-like robot systems. The first integral methods of the snake-like robot systems are given. An example is given to illustrate the results.
Highlights
The snake-like robot, which is based on the biological characteristics of snakes, constitutes an important branch of bionic robots [1]
Because of the multi-joint flexible structure design, a snake robot has the advantage of multi-gait motion and the ability to adapt to a complex unknown environment, and can be widely used in disaster rescue, underwater surveys, industrial testing, and other special environments that traditional robots or humans cannot enter; as a result, increasing attention is being paid to snake robots [3,4,5,6]
There are two starting points to study the motion of the snake-like robot: One is to observe the movement rule of biological snakes from the perspective of bionics, and apply the rule to the snake-like robot to verify its effectiveness and controllability; on the other hand, the physical models are established according to the actual physical systems, and based on the physical model a control law is proposed to make snake-like robots move in a serpentine motion
Summary
The snake-like robot, which is based on the biological characteristics of snakes, constitutes an important branch of bionic robots [1]. There are two starting points to study the motion of the snake-like robot: One is to observe the movement rule of biological snakes from the perspective of bionics, and apply the rule to the snake-like robot to verify its effectiveness and controllability; on the other hand, the physical models are established according to the actual physical systems, and based on the physical model a control law is proposed to make snake-like robots move in a serpentine motion. Hirose established a serpentine gait kinematics model with linkage structures based on the observation of biological snake movement processes and bone anatomy [2], Lilijeback et al analyzed the position relationship between a snake robot and obstacles, proposed an obstacle assistant movement gait in planar motion, and built the kinematics and dynamics model for the snake robot [9, 10]. Ostrowski and Burdick [11] and Guo et al [12] developed the kinematic model considering the constraint systems of snake-like robots
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