The invention relates to an attitude control method of a snake-like robot for advancing in a hole. The snake-like robot comprises spiral casings (1) in groups of four, wherein spiral teeth are arranged on each spiral casing (1), the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle are the same, and the rotating directions of the spiral teeth of the two spiral casings (1) located on two sides are opposite to the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle; a universal joint is arranged between two adjacent spiral casings (1). The attitude control method of the snake-like robot for advancing in the hole comprises the following steps: the universal joints keep a straight line sate under control of actuators (4), the spiral casings (1) are driven by gear motors to rotate, so that the left and right friction force between the spiral teeth of two adjacent spiral casings with different rotating directions of the spiral teeth and the contact surface is offset, and one forward resultant force is formed. The robot can go forwards in a snake-like manner in a narrow environment.


    Access

    Download


    Export, share and cite



    Title :

    Attitude control method of snake-like robot for advancing in hole


    Contributors:
    DING CHENGJUN (author) / MA WENKAI (author) / LIU YONGMING (author)

    Publication date :

    2015-06-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Attitude control method for snake-like robot on rough pavement

    DING CHENGJUN / LIU YONGMING / MA WENKAI | European Patent Office | 2015

    Free access

    Snake-like robot and cave detection method based on snake-like robot

    ZOU XIANJIAN / YANG CHUNHE / WANG TONGTAO et al. | European Patent Office | 2023

    Free access



    Analysis and Control of a Trident Snake-Like Mobile Robot

    Iwatani, Y. / Ishikawa, M. / Hara, S. | British Library Online Contents | 2003