Gait Generation Method of Snake Robot Based on Main Characteristic Curve Fitting

Gait generation method is one of the important contents of snake robot motion control. Different gait generation methods produce completely different forms of control functions, so snake robots need more complicated programming logic and processes to realize various gaits and their transformation. Therefore, we propose a new unified expression of gait method, The MCC (main characteristics control) method simplifies and unifies the control functions of different snake robots gaits by extracting the main features of the backbone curves of snake robots gaits. Since all periodic curves that meet the Dirichlet conditions can be formed by superposition of sinusoidal curves, taking the "lowest frequency" part that reflects the main characteristics of the curve as the target configuration can simplify the motion control function of snake robots' gaits. Based on the MCC method, some snake robot gaits are reconstructed, including serpentine gait, rolling gait, helix rolling gait, and crawler gait. In addition, based on MCC method, an AEH-sidewinding gait control method is proposed. The backbone of the AEH-sidewinding gait is closer to the ideal elliptic helix, thus improving the accuracy of its kinematics modeling of snake robot sidewinding gait. Finally, the validity of this gait is verified by experiments. This unified gait expression of snake robots will be helpful to realize smooth gait switching between different gaits of snake robots.