Design of autonomous flexible deformation snake-like robot control system

WANG Chao-jie; SU Zhong; LIAN Xiao-feng; ZHAO Xu; SHI Jia-bin; CHEN Geng

doi:10.13873/J.1000-9787(2015)06-0112-03

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Design of autonomous flexible deformation snake-like robot control system

更新时间：2025-09-11

- Design of autonomous flexible deformation snake-like robot control system
- Vol. 34, Issue 6, Pages: 112-114+122(2015)
- 作者机构：
  
  1. 北京信息科技大学高动态导航技术北京市重点实验室
  2. 北京工商大学计算机与信息工程学院
  3. 北京理工大学自动化学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2015)06-0112-03
  CLC： TP242
- Published：2015
- 稿件说明：
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[1]王超杰,苏中,连晓峰,赵旭,时佳斌,陈庚.自主柔性变形蛇形机器人控制系统设计[J].传感器与微系统,2015,34(06):112-114+122.

WANG Chao-jie, SU Zhong, LIAN Xiao-feng, et al. Design of autonomous flexible deformation snake-like robot control system[J]. 2015, 34(6): 112-114+122.
[1]王超杰,苏中,连晓峰,赵旭,时佳斌,陈庚.自主柔性变形蛇形机器人控制系统设计[J].传感器与微系统,2015,34(06):112-114+122. DOI： 10.13873/J.1000-9787(2015)06-0112-03.

WANG Chao-jie, SU Zhong, LIAN Xiao-feng, et al. Design of autonomous flexible deformation snake-like robot control system[J]. 2015, 34(6): 112-114+122. DOI： 10.13873/J.1000-9787(2015)06-0112-03.

摘要

针对搜救机器人对多信息获取与处理、远程监控与运动控制的实时高性能需求

设计了以ARM微处理器STM32为核心、多传感器融合的自主柔性变形蛇形机器人控制系统

实现了机器人的远程监控与运动控制、多传感器环境信息采集等功能。整个控制系统具有良好的扩展性、硬件可裁剪性。通过模拟灾难废墟场景实验

结果表明:蛇形机器人控制系统可实现多信息的实时准确无线通信

在不同的环境中

具有良好的多步态运动稳定性和自主移动性能。

Abstract

Aiming at more information acquisition and processing

remote monitoring and motion control

realtime performance requirements of rescue robots

a control system for autonomous flexible deformation snake-like robot is designed based on ARM microprocessor STM32 as core with multi-sensor fusion

achieving remote monitoring and motion control of the robot

multi-sensor environment information collection and other functions.The entire control system is of well scalability and pruning of hardware. By test simulating disaster ruins scene

result shows that snake-like robot control system can achieve multi-information real-time and accurate wireless communication

a good multi-gait motion stability and autonomous mobile performance in different environment.

关键词

Keywords

references

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A snake-like robot for real-world inspection applications （the design and control of a practical active cord mechanism） [J] . Hiroya Yamada,Shunichi Takaoka,Shigeo Hirose. Advanced Robotics . 2013 (1)

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