基于ROS的蛇形机器人基本仿生运动与自主爬台阶控制

设计了一种带正交关节和主动轮组合的蛇形机器人。该机器人不仅能够实现基本的蜿蜒运动、纵向行波运动、横向翻滚运动和横向行波运动，且针对台阶式障碍物提出了一种自主爬越台阶的控制策略。机器人通过激光测距传感器与头部关节的仰角得到台阶高度，抬起相应高度的关节将头关节搭在台阶上，控制主动轮的推进速度与关节抬起的角速度相结合的方式达到上台阶的目的，并且在运动过程中将头部俯仰关节舵机的负载反馈作为判别下台阶的条件。基于ROS （robot operating system）构建了蛇形机器人仿真模型，并通过仿真与实验验证了机器人的基本运动控制和自主爬台阶控制策略的有效性。

ROS-based Basic Biomimetic Motion and Autonomous Step-climbing Control of Snake Robot

In this study, a snake robot with an orthogonal joint and active wheel is designed. The robot can not only realize the basic winding motion, longitudinal traveling wave motion, lateral rolling motion, and lateral traveling wave motion but also put forward a control strategy for climbing steps. The robot obtains the step height with a laser sensor and elevation angle of the head joint and lifts the corresponding height joint to the step. The driving speed of the active wheel and the angular velocity of the joint are controlled to achieve the purpose of climbing up the step, and the load feedback of the steering gear of the head pitching joint is used as the condition to judge whether to climb down the step or not. based on the robot operating system (ROS), the simulation model of the snake robot is constructed, and the effectiveness of the basic motion control and autonomous step-climbing control strategy of the robot is verified through simulations and experiments.