Adaptive Transition Gait Planning of Snake Robot Based on Polynomial Interpolation Method

This paper mainly studies the transition gait planning by updating parameters of snack robot motion control function through ROS nodes, including a straight running into turning gait. In practical scenario, when changing parameters, joint angle snake will increase or decrease sharply, and angular velocity acceleration driving joints also change, which results in oscillation sideslip body. scene, visual tracking loss if head causes lateral movement oscillation. To solve those problems, firstly, dynamic model robot’s serpentine is established. Then, we propose method based on polynomial interpolation compensation to body caused nodes updating. further improve efficiency switching, an optimal dichotomy time search proposed realize adaptive Finally, some simulation experiments are verified effectiveness method.