Phase Synthesis for Spatial Locomotion Control of Retractable Worm Robots
Zhongcheng Wang,Shiwei Yuan,Manfeng Dou,Jianhua Yang,Bin Liang,Zhongcheng Wang,Shiwei Yuan,Manfeng Dou,Jianhua Yang,Bin Liang
Retractable worm robots possess hyper-flexibility, allowing them to work in confined spaces that are difficult for humans. However, the spatial locomotion control of these robots remains challenging due to the robots’ large degrees of freedom. To address this challenge, we propose a phase synthesis (PS) scheme for retractable worm robots. The scheme combines an undulating gait inspired by caterpil...
