6 accepted papers
Due to the high redundant degree of freedom characteristics of snake robots, their joint lever arms tend to be very long and often result in torque saturation, especially in the case of inter-tree motion. Traditional static planning methods based on curve segments connecting or wave functions are of
Improving motion speed and efficiency remains a critical challenge in snake robots gait control. This paper introduces the Loop gait, a novel locomotion gait designed to enhance both speed and energy efficiency of snake robots without passive wheels. Compared to Crawler gait and S-pedal gait, which
Simultaneous Localization and Mapping (SLAM) in large-scale, complex, and GPS-denied underground coal mine environments presents significant challenges. Sensors must contend with abnormal operating conditions: GPS unavailability impedes scene reconstruction and absolute geographic referencing, uneve
A LiDAR-IMU fusion system utilizing adaptive scanning is developed for high-resolution deformation monitoring of underground coal mine infrastructure, such as sealed walls. The system integrates data from a LiDAR scanner and an IMU, employing a penalty function-based scanning strategy to optimize po
In this letter, we propose a tightly coupled LiDAR-inertial-visual (LIV) state estimator termed LIVER, which achieves robust and accurate localization and mapping in underground environments. LIVER starts with an effective strategy for LIV synchronization. A robust initialization process that integr
The gait-based control allows the snake robot to move through different environments. The flexible gait transition motion will effectively improve its application in complex environments. To improve the flexibility of gait-based control, this letter proposes a variety of gait transition motions, whi