Mechanical Designs for Field Undulatory Locomotion by a Wheeled Snake-Like Robot With Decoupled Neural Oscillators

摘要

In this article, we demonstrate the value of using decoupled neural oscillators in conjunction with appropriate mechanical designs for snake-like robots engaging in field locomotion. Even though our typical wheeled snake robot with decoupled neural oscillators incorporating angle joint feedback can generate consistent lateral undulation, it lacks robustness. A purely decoupled actuation strategy is not practical for field locomotion. However, the application of one-way wheels and elasticity between the modules improves robustness, allowing our robot to traverse outdoor open terrain. On the other hand, the physical form of the undulatory motion must be varied to pass through intricate narrow-field environments. The lack of neural constraints between the modules passively enables this variability and also facilitates each module independently gaining propulsion (i.e., by means of reflexive thrust via sensory feedback to the neural oscillator and one-way traction generated by one-way side rollers). The designed robot is able to engage in fast creeping motion through an environment containing randomly distributed logs. The results of the field experiments show that the specially designed mechanisms in conjunction with decoupled oscillators can enhance robustness, variability, and independent local propulsion.