Research On The Gait Generation Method Of Snake-like Robot Which Is Used On The Surface Inspection

The traditional cable inspection method needs crane arm carry human with detectinginstrument，which is dangerous and inaccurate. In recent years, many research institutionsbegan to work on the Cable Inspection Robot, our project group apply snake-like robot tothe cable inspection. the snake-like robot can take camera and excitation sensor in order todetect the surface and the wire of the cable.The research object of this paper is cable detection snake-like robot. Research on themethod of gait generation of snake-like robot and apply this method on the cable climbing.The surface defects of the cable can be detected by the camera which is loaded on thesnake-like robot while the robot climbing the cable. the main content of this article include：1.Analysis the common joint structure of snake-like robot，and choose the orthogonaljoints as the basic structure of our snake-like robot. We introduced a method which is callediterative chain fitting and keyframe wave extraction algorithm, for the gait design ofsnake-like robot with orthogonal joint. This method can build a relationship between thebackbone curve and the input of the joint actuator. The advantages of backbone method andcontrol function method could be combined by this method. By using this method we canknow the backbone and its motion and get the control function of joint actuator at the sametime. The proposed method can effectively improve the safety of the climb, the flexibility ofthe gait and it’s easy to control the underlying drivers.2.Climbing the cable by using the gait generation method introduced in this article.Capture the defects video of the cable surface with the CMOS camera which loaded on thesnake-like robot. Using RTP transport protocol transmit video information which havecompressed to H.264format to the host machine. The host machine displays the condition ofthe cable surface in real time. Extract the surface defects of the cable by using a imageprocessing method that combined edge detection and maximum between-cluster variancethreshold segmentation.3.Designed a hierarchical master-slave control system according to the needs of snakemotion and cable detection. Transmission may occur between PC and the snake over wirelessLAN. Using the CAN bus as the control bus of the snake-like robot. Choose suitable jointactuator, video acquisition module and power management module according to movementand detection requirements.