Tactile-adaptive snake robot navigation system
AssigneeNortheastern University
InventorsAlireza Ramezani, Shuo Jiang, Adarsh Salagame, Lawson L.S. Wong
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Abstract
A method for snake robot navigation, the method including: providing a snake robot comprising a plurality of modules and a plurality of tactile sensors disposed thereon; planning a path over a terrain between an initial position and a target location; detecting a tactile datum from the plurality of tactile sensors; selecting, based on the path, one of a plurality of gaits the snake robot may perform by relative movement of the plurality of modules; dynamically adjusting the selected gait based on the tactile datum; and commanding the plurality of modules to perform the adjusted gait.
Claims20
A method for snake robot navigation, the method comprising:
- providing a snake robot comprising a plurality of modules and a plurality of tactile sensors disposed thereon;
- planning a path over a terrain between an initial position and a target location;
- detecting a tactile datum from the plurality of tactile sensors;
- selecting, based on the path, one of a plurality of gaits the snake robot may perform by relative movement of the plurality of modules;
- dynamically adjusting the selected gait based on the tactile datum;
- and
- commanding the plurality of modules to perform the adjusted gait.
A method for training a snake robot, the method comprising:
- providing a snake robot having a plurality of modules and a plurality of tactile sensors;
- providing a path from a starting position to a target position for the snake robot to traverse;
- generating in a first phase of training, a gait library comprising a plurality of gaits executable by the plurality of modules of the snake robot to traverse the path;
- generating in a second phase of training, a respective adaptor for each module configured to receive a tactile datum from the plurality of tactile sensors;
- adjusting the gaits based on the tactile datum received by the adaptor;
- and
- commanding the plurality of modules to execute the adjusted gait.
Dependencies are inferred from the claim text.