Dynamical Modelling and Control of Modular Snake Robots with Series Elastic Actuators for Pedal Wave Locomotion on Uneven Terrain

Type of content
Journal Article
Thesis discipline
Degree name
Publisher
ASME International
Journal Title
Journal ISSN
Volume Title
Language
English
Date
2020
Authors
Javaheri Koopaee M
Pretty C
Classens K
Chen X
Abstract

This paper introduces the equations of motion of modular 2D snake robots moving in vertical plane employing Series Elastic Actuators (SEAs). The kinematics of such 2D modular snake robot are presented in an efficient matrix form and Euler-Lagrange equations have been constructed to model the robot. Moreover, using a spring-damper contact model, external contact forces necessary for modelling pedal wave motion (undulation in vertical plane) are taken into account, which unlike existing methods can be used to model the effect of multiple contact points. Using such contact model, pedal wave motion of the robot has been simulated and the torque signal measured by the elastic element from the simulation and experimentation have been used to show the validity of the model. Moreover, pedal wave locomotion of such robot on uneven terrain also modeled and an adaptive controller based on torque feedback in gait parameter's space with optimized control gain proposed. The simulation and experimentation results showed the efficacy of the proposed controller as the robot successfully climbed over a stair-type obstacle without any prior knowledge about its location with at least 24.8 percent higher speed compared to non-adoptive motion.

Description
Citation
Mohammadali Javaheri Koopaee, Christopher Pretty, Koen Classens, XiaoQi Chen. Dynamical Modelling and Control of Modular Snake Robots with Series Elastic Actuators for Pedal Wave Locomotion on Uneven Terrain. Journal of Mechanical Design, volume 142, Issue 3, March 2020. p. 1-11
Keywords
modular snake robots, equations of motion, pedal wave locomotion, adaptive locomotion, uneven terrain
Ngā upoko tukutuku/Māori subject headings
ANZSRC fields of research
Field of Research::09 - Engineering::0913 - Mechanical Engineering::091302 - Automation and Control Engineering
Field of Research::09 - Engineering::0906 - Electrical and Electronic Engineering::090602 - Control Systems, Robotics and Automation
Field of Research::08 - Information and Computing Sciences::0801 - Artificial Intelligence and Image Processing::080101 - Adaptive Agents and Intelligent Robotics
Rights
CC-BY distribution license