关键词: 蛇形机器人　蛇形曲线　幅值调整法　相位调整法　侧移

Abstract: The mechanism and control system of the SIA snake-like robot is firstly introduced. To make the snake-like robot perform the turning motion and compensate the sideslip and the orientation errors of the robot, an amplitude modulation method and a phase modulation method are proposed based on analysis of the serpenoid curve. The sidewise motion of the robot can also be generated by rewriting the amplitude modulation method. The amplitude modulation method with limitation of turning angle guarantees the continuity and stability of locomotion. The phase modulation method enables the snake-like robot to turn with an exact angle. The sidewise motion keeps the snake-like robot in its orientation to modulate its position. Computer simulations and experimental tests are performed to show the validity of the proposed methods.

Key words: Amplitude modulation, Phase modulation, Serpenoid curve, Sidewise motion, Snake-like robot