Adaptive climbing motion of snake robot based on joint decoupling and extended Kalman filter

摘要

Abstract This paper proposes a decoupled gait control function to solve the adaptive transition problem of the snake robot climbing the rod with variable diameter. Firstly, the Sigmoid function is combined with the general gait control function to achieve the decoupling control of the robot joints. Then an adaptive adjustment algorithm of key control parameters is designed based on the extended Kalman filter (EKF) to realize the decoupling gait changes continuously and compliantly as the environment changes. Finally, the physical meanings of the key control parameters are reiterated by simulation, and their influence on the decoupling of climbing gait is analyzed. The smooth transition climbing experiments of the snake robot on rods with different diameters verify the effectiveness of the decoupling and adaptive algorithm.