发表机构
Kyushu University; The University of Tokyo; Tohoku University; The University of Electro-Communications（九州大学; 东京大学; 东北大学; 电气通信大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究通过可重定位关节蛇形机器人，对比高、低关节密度模型在障碍环境中的推进性能，发现高密度配置能抑制反作用力突变、降低功耗并实现稳定连续推进，从而提升复杂地形适应性。
AI 中文摘要
避障辅助运动是蛇形机器人在复杂环境中穿越的基本能力。然而，传统的刚性连杆蛇形机器人常因关节密度低（即单位长度内的关节数量）而出现停滞或卡死现象。这导致与障碍物的接触不连续，不同于生物蛇的连续适应。为了研究关节密度对避障辅助运动性能的影响，我们利用了一种可重定位关节的蛇形机器人机构，该机构将执行器与关节解耦，从而实现高密度架构。我们开发了两种总长度相同但关节密度不同（高密度和低密度）的实验模型，并在不同障碍物直径的障碍物环境中进行了对比推进实验。实验结果表明，高密度模型显著抑制了导致低密度模型停滞的反作用力突变。通过保持平滑的接触点，高密度配置降低了功耗，实现了稳定、连续的推进。这些结果凸显了高关节密度是提高蛇形机器人在复杂地形中环境适应性的关键因素。
英文摘要
Obstacle-aided locomotion is a fundamental capability for snake robots to traverse complex environments. However, conventional rigid-link snake robots often suffer from stagnation or jamming caused by their low joint density (i.e., the number of joints per unit length). This results in discontinuous contact with obstacles, unlike the continuous adaptation of biological snakes. To investigate the effect of joint density on obstacle-aided locomotion performance, we utilized a joint-repositionable snake robot mechanism that decouples actuators from joints, enabling a high-density architecture. We developed two experimental models with identical total lengths but different joint densities (high-density and low-density) and conducted comparative propulsion experiments in obstacle environments with varying obstacle diameters. The experimental results demonstrate that the high-density model substantially suppresses the abrupt shifts in reaction forces that cause stagnation in the low-density model. By maintaining smooth contact points, the high-density configuration reduces power consumption and achieves stable, continuous propulsion. These results highlight high joint density as a key factor in improving the environmental adaptability of snake robots in complex terrains.
CommentsAccepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026)
