AIKO蛇形机器人-障碍物辅助运动和非线性系统控制理论

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AIKO蛇形机器人-障碍物辅助运动和非线性系统控制理论

Aiko开发目的是生产一种用于试验蛇形机器人运动的便携式系统。该机器人由几个相同的关节模块组成，每个关节模块都有两个电动自由度。AIKO蛇行机器人障碍物辅助移动由机器人关节与障碍物之间的接触力推动的。该视频演示了蛇形机器人的控制理论和运动控制概念，包括障碍物辅助运动和非线性系统控制理论在蛇形机器人路径跟踪控制中的应用。

技术数据

长度：1.5 m

重量：7公斤

自由度数：20

每个关节的角度弯曲：+/- 45度

执行器：直流电动机

最大扭矩：2.5牛米

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Snake Robots at NTNU and SINTEF

The video presents control systems technology for snake robots developed at NTNU and SINTEF in Norway. The following robots are featured in the video:

Anna Konda: A water hydraulic snake robot developed to demonstrate a self-propelled fire hose for future firefighting applications.

Piko: Snake robot for pipe inspection.

Aiko and Wheeko: Snake robots developed to investigate control strategies for flat su**ce locomotion.

Kulko and Mamba: Snake robots with tactile sensing capabilities developed to investigate adaptive locomotion control in cluttered environments (obstacle-aided locomotion).

The video illustrates control theory and motion control concepts for snake robots, including obstacle-aided locomotion and the application of nonlinear systems control theory for path following control of snake robots.

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https://www.youtube.com/watch?v=8OYZO68gekw

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视频：https://www.bilibili.com/video/av74823427/

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https://robotnor.no/research/aiko-a-snake-robot-with-dc-motors/