Trajectory generation for a walking in-pipe robot moving through spatially curved pipes

Trajectory generation for a walking in-pipe robot moving through spatially curved pipes

In this paper, a walking in-pipe robot is studied. The robot has six legs, each consisting of 3 links connected via rotary joints. The legs are attached to the robot’s body. The work is focused on the problem of generating desired position and orientation for the robot’s body, using a given footstep...

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Bibliographic Details
Main Authors: Savin Sergei, Jatsun Sergey, Vorochaeva Lyudmila
Format: Article
Language:English
Published: EDP Sciences 2017-01-01
Series:MATEC Web of Conferences
Online Access:https://doi.org/10.1051/matecconf/201711302016
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spelling doaj-b6e80487ca1742db94fe5e27ac2291fe2021-03-02T02:25:58ZengEDP SciencesMATEC Web of Conferences2261-236X2017-01-011130201610.1051/matecconf/201711302016matecconf_er2017_02016Trajectory generation for a walking in-pipe robot moving through spatially curved pipesSavin SergeiJatsun SergeyVorochaeva LyudmilaIn this paper, a walking in-pipe robot is studied. The robot has six legs, each consisting of 3 links connected via rotary joints. The legs are attached to the robot’s body. The work is focused on the problem of generating desired position and orientation for the robot’s body, using a given footstep sequence. An iterative geometric algorithm for generating orientation sequence is proposed. The problem of finding the desired position of the center of mass of the robot’s body is formulated as a problem of minimizing stretching of the robot’s legs during steps. Also, an analytical solution for inverse kinematics problem has been given. All proposed algorithms do not require extensive calculation and use basic algebraic operations.https://doi.org/10.1051/matecconf/201711302016
collection DOAJ
language English
format Article
sources DOAJ
author Savin Sergei
Jatsun Sergey
Vorochaeva Lyudmila
spellingShingle Savin Sergei
Jatsun Sergey
Vorochaeva Lyudmila
Trajectory generation for a walking in-pipe robot moving through spatially curved pipes
MATEC Web of Conferences
author_facet Savin Sergei
Jatsun Sergey
Vorochaeva Lyudmila
author_sort Savin Sergei
title Trajectory generation for a walking in-pipe robot moving through spatially curved pipes
title_short Trajectory generation for a walking in-pipe robot moving through spatially curved pipes
title_full Trajectory generation for a walking in-pipe robot moving through spatially curved pipes
title_fullStr Trajectory generation for a walking in-pipe robot moving through spatially curved pipes
title_full_unstemmed Trajectory generation for a walking in-pipe robot moving through spatially curved pipes
title_sort trajectory generation for a walking in-pipe robot moving through spatially curved pipes
publisher EDP Sciences
series MATEC Web of Conferences
issn 2261-236X
publishDate 2017-01-01
description In this paper, a walking in-pipe robot is studied. The robot has six legs, each consisting of 3 links connected via rotary joints. The legs are attached to the robot’s body. The work is focused on the problem of generating desired position and orientation for the robot’s body, using a given footstep sequence. An iterative geometric algorithm for generating orientation sequence is proposed. The problem of finding the desired position of the center of mass of the robot’s body is formulated as a problem of minimizing stretching of the robot’s legs during steps. Also, an analytical solution for inverse kinematics problem has been given. All proposed algorithms do not require extensive calculation and use basic algebraic operations.
url https://doi.org/10.1051/matecconf/201711302016
work_keys_str_mv AT savinsergei trajectorygenerationforawalkinginpiperobotmovingthroughspatiallycurvedpipes
AT jatsunsergey trajectorygenerationforawalkinginpiperobotmovingthroughspatiallycurvedpipes
AT vorochaevalyudmila trajectorygenerationforawalkinginpiperobotmovingthroughspatiallycurvedpipes
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