Priyabrata Chattopadhyay, Sanjoy K. Ghoshal, and Anubhab Majumder


Piecewise sine functions, dynamic simulation, climbing, ground crawling, robot stability, power consumption


Climbing and ground traversing of multi-segmented robots are preferably generated through body waves. These three-dimensional body waves are often observed in serpentine robots where two waves from two orthogonal planes are progressing through the body. Body undulation of a multi-segmented robot is produced by actuation of the joints. This paper describes the application of a two-dimensional body wave on climbing and ground traversing locomotion. The locomotion mechanisms of climbing and ground crawling are divided into a number of sub-mechanisms before it completes a gait. Here, meaningful actuation of each joint through piecewise sine function, called the joint orientation functions (JOFs), is implemented in robot joints for generating climbing and ground crawling gait. The viability of mathematical functions intended for dynamic locomotion is observed in the simulated environment through Computer Aided Engineering (CAE) and results are compared. Gripping force to grasp substrates during climbing is implemented by introducing the STEP function along with the piecewise JOFs. Torque distribution graphs provide the maximum computed joint torque and help to select the servo actuator. The ground crawling is carried out on the horizontal plane. One ferromagnetic wall is selected for climbing as two electromagnets fixed at two ends are used to grasp the surface. Two locomotion have been validated through experimentation using JOFs.

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