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.
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