Study on Head Stabilization Control Strategy of Non-Wheeled Snake Robot Based on Inertial Sensor

In this paper, the head stabilization problem of snake robot in planar motion is studied. When performs a movement with an inchworm locomotion gait, controller swings up and down due to fluctuation joint angle neck joint. However, usually has laser radar other visual instruments on head, swing causes instrument fail obtain external information normally, which affects navigation detection robot. method for proposed. The inertial sensor used direction parameters control when moves, effectiveness verified by simulation experiment real