The Adaptive Undulatory Locomotion Path Planning Research For A Biomimetic Crawling Robot

There are various ways of organism movement,and the undulatory locomotion is one of fundamental movements in nature.Because of its multi-degree of freedom,it is more flexible and adaptable.Bio-snake is widely used as a research object to study the mechanism of undulatory locomotion.However,due to the large nervous system and the complex muscle-bone structure of snakes,it is difficult to study the movement mechanism of undulatory locomotion.In the study of undulatory locomotion,because the undulatory locomotion shape of caenorhabditis elegans(C.elegans)is very similar to bio-snake,and it has the advantages of simple structure and easy analysis et al.Therefore,The C.elegans provides an ideal model for the study of the mechanism of undulatory locomotion.The path planning research of the biomimetic crawling robot of C.elegans has important practical and social value.Based on these features of undulatory locomotion,this thesis investigates the crawling robot system,locomotion patterns,path planning and so on.The research work in this thesis can be divided into the following three parts:1.The biomimetic crawling robot inspired by C.elegans is constructed.This thesis analyzes the principle of undulatory locomotion under proprioception mechanism of C.elegans.Following its anatomical structure,the nematode body model is established.Moreover,several basic movement patterns of the nematode are also analyzed.Based on these movement patterns,the components of crawling robot are selected,and a biomimetic crawling robot is built.2.The simulation of avoidance behavior of C.elegans.According to the mechanism of undulatory locomotion,the undulatory motion and and deflection mathematical model is established.This thesis describes the distribution of detection receptors and the detection principle of typical obstacles,and the detection receptors are used to obtain the obstacle information in the environment.Finally,the avoidance obstacle behavior of C.elegans is realized by the proposed objective gradient information and fuzzy logic model.The experimental result demonstrates that the proposed strategy can effectively simulate the obstacle avoidance behavior of C.elegans.3.The path planning of a biomimetic crawling robot.Following the proprioception mechanism of C.elegans,this thesis analyzes the dynamic system that generates the undulatory locomotion,and a mathematical method is used to simplify the undulatory locomotion model.In order to realize the adaptive undulatory locomotion of biomimetic crawling robot in complex environment,this thesis combines the initial navigation with fuzzy control strategy to minicking the logic decision of C.elegans.In addition,four basic locomotion patterns are discussed.Finally,the experiments verified the effectiveness of the biomimetic crawling robot and the motion logic approach.