Review of snake robots in constrained environments | |
Liu JD(刘晋东)1; Tong YC(佟玉闯)2,3,4; Liu JG(刘金国)3,4 | |
刊名 | Robotics and Autonomous Systems |
2021 | |
卷号 | 141页码:1-27 |
关键词 | Snake robots Joint structure Control algorithms Constrained environment |
ISSN号 | 0921-8890 |
产权排序 | 2 |
英文摘要 | Snake robots have advantages of terrain adaptability over wheeled mobile robots and traditional articulated robot arms because of their limbless thin body structure and high flexibility. They have extensive applications in tasks such as rescue, disaster recovery, inspection and minimally invasive surgery. Current research on snake robots is mainly focused on snake-like locomotion and the embodiment of these motion gaits for different applications. Modular structure and real-time control algorithms are two key aspects for snake robots operating in constrained environments. This review will attempt to address both. First, a review on the snake motion and the body structure is provided, which outlines the biological foundation of all snake robots. This is followed by the mechanical structure of snake robots, especially the structure of elemental snake modules. Finally, control algorithms for variant terrain contours and obstacle avoidance are discussed. The review also outlines emerging application areas and potential future directions of snake robots. |
语种 | 英语 |
WOS记录号 | WOS:000649552900009 |
资助机构 | National Key R&D Program of China (Grant No. 2018YFB1304600) ; Natural Science Foundation of China (Grant No. 51775541) ; CAS, PR China Interdisciplinary Innovation Team (Grant No. JCTD-2018-11) |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/28764] |
专题 | 中国科学院沈阳自动化研究所 |
通讯作者 | Liu JG(刘金国) |
作者单位 | 1.Hamlyn Centre, Imperial College London, London, United Kingdom 2.University of the Chinese Academy of Science, Beijing, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences (CAS), China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), China |
推荐引用方式 GB/T 7714 | Liu JD,Tong YC,Liu JG. Review of snake robots in constrained environments[J]. Robotics and Autonomous Systems,2021,141:1-27. |
APA | Liu JD,Tong YC,&Liu JG.(2021).Review of snake robots in constrained environments.Robotics and Autonomous Systems,141,1-27. |
MLA | Liu JD,et al."Review of snake robots in constrained environments".Robotics and Autonomous Systems 141(2021):1-27. |
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