CN113084787B - Bionic snake-shaped robot motion gait planning method, system, equipment and medium - Google Patents

Abstract

The invention discloses a motion gait planning method, system, equipment and medium of a bionic snake-shaped robot. The method includes: acquiring a snake's meandering motion trajectory image; constructing a trajectory function according to the snake's meandering motion trajectory image; The time variable is added to the trajectory function to obtain the dynamic trajectory function with time; the curvature of the trajectory function is obtained; according to the curvature of the trajectory function, the trajectory position is converted into the length of the snake body to obtain the curvature function; according to the curvature function, the bionic function is determined The servo rotation parameters of the snake-shaped robot are used to complete the motion gait planning of the bionic snake-shaped robot. The invention enables the bionic snake-shaped robot to simulate various movements of the real snake in the simplest way, improves the efficiency of gait planning for the bionic snake-shaped robot, and effectively reduces the gait planning of the bionic snake-shaped robot. complexity.

Description

Motion gait planning method, system, device and medium for bionic snake-like robot

technical field

The invention relates to a motion gait planning method, system, equipment and medium of a bionic snake-shaped robot, and belongs to the technical field of robot motion gait control.

Background technique

Gait planning is a control method to make the robot move according to the planned gait. There are several methods of gait planning: bionic methods, intelligent learning algorithms, model simplification, etc. The gait planning method based on bionics is the most mainstream gait planning method for snake-like robots. First, the snake-like robot is a robot manufactured by imitating the shape and behavior of a snake. It has a snake-like mechanical structure. The method is to use the instrument to record the motion data of the snake when it is meandering or creeping, then analyze and process the recorded data, and finally correct it to conform to the driving mode, mass distribution, and mechanical structure of the snake-like bionic robot. Finally, the corrected data is used as the input control parameters of the robot. Biomimicry is a comprehensive marginal subject that appeared in the 1960s, which is formed by the mutual penetration and combination of life science and engineering technology science. It can be said that the research of bionics plays a pivotal role in the development of science and technology and society. The bionic system has become a key subject of modern research because of its ability to embody and reproduce the characteristics of life. The physical realization of the autonomous movement and adaptability of the living system can not only free people from the heavy, dangerous and monotonous work environment, but also can replace people to complete complex tasks in dangerous situations. Biomimicry applies the principle of life to the research and design of engineering systems, especially for today's growing robotics discipline, and promotes the vigorous development of the field of bionic robotics. However, it often requires a lot of work to modify the real meandering motion into the input control parameters of the robot after bionic research.

SUMMARY OF THE INVENTION

In view of this, the present invention provides a motion gait planning method, system, equipment and medium for a bionic snake-shaped robot, which can allow the bionic snake-shaped robot to simulate various movements of real snakes in the simplest way, and improve the The efficiency of gait planning for the bionic snake-shaped robot is effectively reduced, and the complexity of the gait planning of the bionic snake-shaped robot is effectively reduced.

The first object of the present invention is to provide a motion gait planning method for a bionic snake-shaped robot.

The second object of the present invention is to provide a motion gait planning system for a bionic snake-shaped robot.

A third object of the present invention is to provide a computer device.

A fourth object of the present invention is to provide a storage medium.

The first purpose of the present invention can be achieved by adopting the following technical solutions:

A method for planning the motion gait of a bionic snake-shaped robot, the method comprising:

Obtain the snake's meandering trajectory image;

According to the snake's meandering motion trajectory image, the trajectory function is constructed;

The time variable is added to the trajectory function to obtain the dynamic trajectory function with time;

Find the curvature of the motion trajectory function;

According to the curvature of the motion trajectory function, the trajectory position is converted into the length of the snake body, and the curvature function is obtained;

According to the curvature function, the rotation parameters of the steering gear of the bionic snake-shaped robot are determined to complete the motion gait planning of the bionic snake-shaped robot.

Further, according to the snake's meandering motion trajectory image, the trajectory equation is constructed, which specifically includes:

According to the snake's meandering motion trajectory image, the preliminary proposed function of the trajectory is obtained;

Select the feature points, substitute the coordinates of the feature points into the preliminary proposed function, and obtain the relationship between the amplitude, frequency and initial phase in the preliminary proposed function;

According to the relationship between amplitude, frequency and initial phase, the trajectory function is constructed.

Further, the preliminary proposed function is as follows:

(e,f)为初相位的特征向量。Among them, i(x)=ax+b, (a,b) is the eigenvector of amplitude; w(x)=cx+d, (c,d) is the eigenvector of frequency;

(e, f) are the eigenvectors of the initial phase.

Further, the time variable is added to the trajectory function to obtain a dynamic motion trajectory function over time, as follows:

t为时间，g为运动速度参数。in,

t is the time, and g is the motion speed parameter.

Further, the curvature of the motion trajectory function is calculated as follows:

f(x,t)=∫∫g(x,t)dx

where t is the time and x is the trajectory position.

Further, according to the curvature of the motion trajectory function, the trajectory position is converted into the length of the snake body to obtain the curvature function, specifically:

According to the curvature of the motion trajectory function, the trajectory position is converted into the length of the snake body, that is, s=∫g(x,t)dx, and the curvature function g(s,t) is obtained.

Further, determining the rotation parameters of the steering gear of the bionic snake-shaped robot according to the curvature function specifically includes:

Substitute the result obtained by multiplying the distance k between adjacent steering gears and the number of steering gear segments n into the curvature function to obtain the curvature g(nk,t) at each steering gear;

According to the curvature of each steering gear, the rotation parameter of the steering gear of the bionic snake robot is determined as θ(nk,t)=αg(nk,t)+β.

The second object of the present invention can be achieved by adopting the following technical solutions:

A bionic snake-shaped robot motion gait planning system, the system includes:

The trajectory image acquisition module is used to acquire the snake's meandering motion trajectory image;

The trajectory function building module is used to construct the trajectory function according to the snake's meandering motion trajectory image;

The time variable adding module is used to add time variables to the trajectory function to obtain the dynamic trajectory function with time;

The curvature calculation module is used to obtain the curvature of the motion trajectory function;

The curvature function acquisition module is used to convert the trajectory position into the length of the snake body according to the curvature of the motion trajectory function to obtain the curvature function;

The steering gear rotation parameter determination module is used to determine the steering gear rotation parameters of the bionic snake-shaped robot according to the curvature function, so as to complete the motion gait planning of the bionic snake-shaped robot

The third object of the present invention can be achieved by adopting the following technical solutions:

A computer device includes a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the above-mentioned method for planning the motion gait of a bionic snake-shaped robot is implemented.

The fourth object of the present invention can be achieved by adopting the following technical solutions:

A storage medium stores a program, and when the program is executed by a processor, the above-mentioned method for planning the motion gait of a bionic snake-shaped robot is realized.

The present invention has the following beneficial effects with respect to the prior art:

The invention obtains the meandering motion trajectory image of a real snake, constructs a trajectory function according to the motion trajectory image, and adds a time variable to the trajectory function to obtain a time-dynamic motion trajectory function, so as to obtain the trajectories at the joints of the bionic snake-shaped robot. The control parameters of the steering gear allow the bionic snake-shaped robot to simulate various movements of the real snake in the simplest way, improve the efficiency of gait planning for the bionic snake-shaped robot, and effectively reduce the cost of the bionic snake-shaped robot The complexity of gait planning.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained according to the structures shown in these drawings without creative efforts.

FIG. 1 is a simple flowchart of the motion gait planning method for a bionic snake-shaped robot according to Embodiment 1 of the present invention.

FIG. 2 is a detailed flowchart of the motion gait planning method for a bionic snake-shaped robot according to Embodiment 1 of the present invention.

FIG. 3 is a motion trajectory diagram of a snake at a certain moment of meandering motion according to Embodiment 1 of the present invention.

FIG. 4 is an analysis diagram of the mechanical principle of the bionic snake-shaped robot in the meandering gait according to the first embodiment of the present invention.

FIG. 5 is a diagram of a mathematical model of a snake motion trajectory constructed by an actual trajectory according to Embodiment 1 of the present invention.

FIG. 6 is a structural block diagram of a motion gait planning system for a bionic snake-shaped robot according to Embodiment 2 of the present invention.

FIG. 7 is a structural block diagram of a computer device according to Embodiment 3 of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work are protected by the present invention. scope.

Before discussing the exemplary embodiments in greater detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowchart depicts the steps as a sequential process, many of the steps may be performed in parallel, concurrently, or concurrently. Furthermore, the order of the steps can be rearranged. The process may be terminated when its operation is complete, but may also have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, subroutines, and the like.

Example 1:

The movement of the snake can be regarded as the transmission of some traveling waves, and the transmission of the snake is regular and repetitive, that is, the shape of the body at a certain moment is consistent with the trajectory of the road, and the study of the snake's movement trajectory can be The twisting and bending of the snake body can be obtained, so that the steering gear control parameters at the joints of the bionic snake robot can be obtained; as shown in Figures 1 and 2, this embodiment provides a motion gait planning method for the bionic snake robot , the method includes the following steps:

S101. Acquire a meandering motion trajectory image of the snake.

The meandering motion trajectory image of the real snake is selected as shown in Figure 3, and the feasibility of the simplest mechanical principle analysis for trajectory analysis is carried out: at the front end of the snake body, the snake is in a contraction shape, and the rear end is in a diastolic shape. The movement of the cortex can make the snake body move forward along the trajectory. The mechanical principle analysis of the snake joint is shown in Figure 4.

S102 , constructing a trajectory function according to the meandering motion trajectory image of the snake.

The step S102 specifically includes:

S1021 , obtaining a preliminary proposed function on the trajectory according to the snake's meandering motion trajectory image.

Specifically, regarding the trajectory, the following preliminary proposed function can be used to describe the trajectory under the preliminary observation conclusion:

为该初步拟定函数的关键参数，三个关键参数都可以认定为关于轨迹位置x的一次方程式：i(x), w(x) and

For the key parameters of this preliminary proposed function, all three key parameters can be identified as linear equations about the trajectory position x:

i(x)=ax+b

w(x)=cx+d

Among them, (a, b) are the eigenvectors of the amplitude, a and b are the eigenvalues of the amplitude; (c, d) are the eigenvectors of the frequency, and c and d are the eigenvalues of the frequency; (e, f) are The eigenvectors of the initial phase, e and f are the eigenvalues of the initial phase.

S1022 , selecting feature points, substituting the coordinates of the feature points into the preliminary drawn function, and obtaining the relational expressions of amplitude, frequency and initial phase in the preliminary drawn function.

S1023 , constructing a trajectory function according to the relational expression of amplitude, frequency and initial phase.

只要取到合适的特征点坐标，便能建立蛇运动时的轨迹函数，即轨迹方程。The eigenvectors of amplitude, frequency and initial phase can be obtained from the amplitude vector, frequency vector and initial phase vector constructed by two feature points on the motion trajectory image, and there are often differences in different parts of the snake body. Motion features are different feature vectors, so discontinuous amplitude, frequency, and initial phase relationships i(x), w(x) will be obtained,

As long as the appropriate feature point coordinates are obtained, the trajectory function of the snake can be established, that is, the trajectory equation.

The snake motion trajectory mathematical model constructed by the actual trajectory of the meandering motion trajectory image in the present embodiment is shown in Figure 5, and the trajectory function derived by using a series of feature point coordinates is as follows:

i(x)=11*x/30+2.5x<=15;

i=8x<=75;

-(x-75)/40+8x>75;

w(x)=π/5/((0.4*x+0.25)^0.5+0.5);

The trajectory code of the trajectory function is as follows:

S103, adding a time variable to the trajectory function to obtain a dynamic motion trajectory function with time.

成为时间变量

如下式：On the established trajectory equation, add time t to make the phase angle

become time variable

The formula is as follows:

Among them, g is the movement speed parameter, and its size determines the speed of movement, which is set by the designer.

得到随时间动态的运动轨迹函数，即运动轨迹方程，如下式：Therefore, by adding the time variable

The dynamic trajectory function over time, that is, the trajectory equation, is obtained, as follows:

S104, the curvature of the motion trajectory function is obtained.

Specifically, finding the curvature of the obtained motion trajectory function is an important step for parameter processing and conversion. The curvature of the motion trajectory function is calculated as follows:

f(x,t)=∫∫g(x,t)dx

S105, according to the curvature of the motion trajectory function, convert the trajectory position into the length of the snake body to obtain the curvature function;

Specifically, according to the curvature of the motion trajectory function, the independent variable trajectory position x is converted into the snake body length s, that is, s=∫g(x,t)dx, and the curvature function g(s,t) is obtained.

S106: Determine the rotation parameters of the steering gear of the bionic snake-shaped robot according to the curvature function, so as to complete the motion gait planning of the bionic snake-shaped robot.

Measure the distance between the steering gears, and substitute the result obtained by multiplying the distance k between adjacent steering gears and the number of steering gear segments n into the s of the curvature function g(s, t), that is, s=nk, to obtain the curvature g at each steering gear (nk,t).

Therefore, according to the curvature of each steering gear, the steering gear rotation parameters (that is, the steering gear control parameters) of the bionic snake robot are determined as:

θ(nk,t)=αg(nk,t)+β

Among them, α, β can be determined by experience, according to experience, β is generally set to 90, and the range of α is generally 45 to 90.

The control function derived from the motion trajectory function theory in this embodiment is as follows:

θ _i,ref =α ₁ sin(ω ₁ t+(i-1)δ ₁ ), i=2k

θ _i,ref = 0, i = 2k-1

The actual servo control code after the simplified control function is as follows:

a=90-50*sin(t/50);

b=90+50*sin((t/50)+pi*0.2);

c=90-50*sin((t/50)+0.4*pi).

Through the above steps S101 to S106, the motion gait planning of the bionic snake-shaped robot is completed, and then the parameters can be compiled into codes and input to the bionic snake-shaped robot for motion verification, and the value of g can be adjusted according to the required speed of the bionic snake-shaped robot. Adjust the values of α and β according to the actual trajectory of the bionic snake robot.

Those skilled in the art can understand that all or part of the steps in the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the corresponding program can be stored in a computer-readable storage medium.

Example 2:

As shown in FIG. 6 , this embodiment provides a motion gait planning system for a bionic snake-shaped robot. The system includes a trajectory image acquisition module 601 , a trajectory function construction module 602 , a time variable addition module 603 , a curvature calculation module 604 , and a curvature calculation module 604 . The function acquisition module 605 and the steering gear rotation parameter determination module 606, the specific functions of each module are as follows:

The trajectory image acquisition module 601 is used to acquire the snake's meandering motion trajectory image.

The trajectory function building module 602 is configured to construct a trajectory function according to the snake's meandering motion trajectory image.

The time variable adding module 603 is used for adding a time variable to the trajectory function to obtain a dynamic motion trajectory function with time.

The curvature calculation module 604 is used to obtain the curvature of the motion trajectory function.

The curvature function acquisition module 605 is configured to convert the trajectory position into the length of the snake body according to the curvature of the motion trajectory function to obtain the curvature function.

The steering gear rotation parameter determination module 606 is configured to determine the steering gear rotation parameters of the bionic snake-shaped robot according to the curvature function, so as to complete the motion gait planning of the bionic snake-shaped robot.

For the specific implementation of each module in this embodiment, reference may be made to the above-mentioned Embodiment 1, which will not be repeated here. It should be noted that the system provided in this embodiment only takes the division of the above-mentioned functional modules as an example, and in practical applications , the above functions can be allocated to different functional units to complete according to needs, that is, the internal structure is divided into different functional modules, so as to complete all or part of the functions described above.

Example 3:

As shown in FIG. 7 , this embodiment provides a computer device, which can be a computer, a server, etc., and includes a processor 702 , a memory, an input device 703 , a display 704 and a network interface 705 connected through a system bus 701 . The processor 702 is used to provide computing and control capabilities, the memory includes a non-volatile storage medium 706 and an internal memory 707, the non-volatile storage medium 706 stores an operating system, computer programs and databases, and the internal memory 707 is The operating system and the computer program in the non-volatile storage medium 706 provide an environment for running the computer program. When the computer program is executed by the processor 702, the method for planning the motion gait of the bionic snake-shaped robot in the above-mentioned embodiment 1 is implemented, as follows:

Obtain the snake's meandering motion trajectory image;

According to the snake's meandering motion trajectory image, the trajectory function is constructed;

The time variable is added to the trajectory function to obtain the dynamic trajectory function with time;

Find the curvature of the motion trajectory function;

According to the curvature of the motion trajectory function, the trajectory position is converted into the length of the snake body, and the curvature function is obtained;

According to the curvature function, the rotation parameters of the steering gear of the bionic snake-shaped robot are determined to complete the motion gait planning of the bionic snake-shaped robot.

Further, according to the snake's meandering motion trajectory image, the trajectory equation is constructed, which specifically includes:

According to the snake's meandering motion trajectory image, the preliminary proposed function of the trajectory is obtained;

Select the feature points, substitute the coordinates of the feature points into the preliminary proposed function, and obtain the relationship between the amplitude, frequency and initial phase in the preliminary proposed function;

According to the relationship between amplitude, frequency and initial phase, the trajectory function is constructed.

Example 4:

This embodiment provides a storage medium, where the storage medium is a computer-readable storage medium, and stores a computer program. When the computer program is executed by a processor, the method for planning the motion gait of a bionic snake-shaped robot in the foregoing embodiment 1 is implemented, as follows:

Obtain the snake's meandering motion trajectory image;

According to the snake's meandering motion trajectory image, the trajectory function is constructed;

The time variable is added to the trajectory function to obtain the dynamic trajectory function with time;

Find the curvature of the motion trajectory function;

According to the curvature of the motion trajectory function, the trajectory position is converted into the length of the snake body, and the curvature function is obtained;

According to the curvature function, the rotation parameters of the steering gear of the bionic snake-shaped robot are determined to complete the motion gait planning of the bionic snake-shaped robot.

Further, according to the snake's meandering motion trajectory image, the trajectory equation is constructed, which specifically includes:

According to the snake's meandering motion trajectory image, the preliminary proposed function of the trajectory is obtained;

Select the feature points, substitute the coordinates of the feature points into the preliminary proposed function, and obtain the relationship between the amplitude, frequency and initial phase in the preliminary proposed function;

According to the relationship between amplitude, frequency and initial phase, the trajectory function is constructed.

It should be noted that the computer-readable storage medium in this embodiment may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this embodiment, however, the computer-readable signal medium may include a data signal in baseband or propagated as part of a carrier wave, carrying a computer-readable program therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable storage medium, other than a computer-readable storage medium, that can send, propagate, or transport a computer-readable signal medium for use by or in connection with the instruction execution system, apparatus, or device. program. A computer program embodied on a computer-readable storage medium may be transmitted using any suitable medium including, but not limited to, electrical wire, optical fiber cable, RF (radio frequency), etc., or any suitable combination of the foregoing.

The above-mentioned computer-readable storage medium may be included in a computing device; or may exist alone without being assembled into the computing device. Computer programs for performing the operations of the present embodiments may be written in one or more programming languages, including object-oriented programming languages—such as Java, Python, C++, but also conventional Procedural programming languages—such as C or similar programming languages. The program may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of methods, systems, and computer devices in accordance with the various embodiments described above. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which contains one or more possible functions for implementing the specified logical function(s) Execute the instruction. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions. The modules involved in the above-mentioned embodiments may be implemented in software or hardware.

The above description is only a preferred embodiment of the present invention and an illustration of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the above embodiments is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover the above technical features without departing from the above disclosed concept. Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above features with the technical features disclosed in the above embodiments (but not limited to) having similar functions.

To sum up, the present invention obtains a meandering motion trajectory image of a real snake, constructs a trajectory function according to the motion trajectory image, and adds a time variable to the trajectory function to obtain a dynamic motion trajectory function over time, thereby obtaining a bionic snake The control parameters of the steering gear at the joints of the bionic snake-shaped robot can allow the bionic snake-shaped robot to simulate various movements of the real snake in the simplest way, improve the efficiency of gait planning for the bionic snake-shaped robot, and effectively reduce the The complexity of gait planning for a bionic snake-like robot.

Those skilled in the art should understand that the present invention is not limited to the above-mentioned specific embodiments, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention. The scope is determined by the scope of the appended claims.

Claims (4)

1. a bionic snake-shaped robot motion gait planning method, is characterized in that, described method comprises: Obtain the snake's meandering trajectory image; According to the snake's meandering motion trajectory image, the trajectory function is constructed, which includes: obtaining a preliminary proposed function of the trajectory according to the snake's meandering motion trajectory image; selecting feature points, and substituting the feature point coordinates into the preliminary drafting function to obtain the preliminary drafting function. The relationship between amplitude, frequency and initial phase in the function; according to the relationship between amplitude, frequency and initial phase, the trajectory function is constructed; The preliminary proposed function is as follows:

Among them, i(x)=ax+b, (a, b) is the eigenvector of amplitude; w(x)=cx+d, (c, d) is the eigenvector of frequency;

(e, f) are the eigenvectors of the initial phase; The time variable is added to the trajectory function to obtain the dynamic trajectory function with time, as follows:

in,

t is the time, g is the motion speed parameter; To find the curvature of the motion trajectory function, the calculation is as follows: f(x,t)=∫∫g(x,t)dx Among them, t is the time, and x is the trajectory position; According to the curvature of the motion trajectory function, the trajectory position is converted into the length of the snake body, and the curvature function is obtained. Specifically, according to the curvature of the motion trajectory function, the trajectory position x is converted into the length of the snake body s, that is, s=∫g(x, t )dx, get the curvature function g(s, t); According to the curvature function, the rotation parameters of the steering gear of the bionic snake-shaped robot are determined to complete the motion gait planning of the bionic snake-shaped robot; wherein, determining the rotation parameters of the steering gear of the bionic snake-shaped robot according to the curvature function specifically includes: The result obtained by multiplying the distance k between adjacent steering gears and the number of steering gear segments n is substituted into the curvature function to obtain the curvature g(nk, t) at each steering gear; according to the curvature at each steering gear, the rudder of the bionic snake robot is determined The machine rotation parameter is θ(nk, t)=αg(nk, t)+β; After completing the motion gait planning of the bionic snake-shaped robot, compile the steering gear rotation parameters into codes and input them into the bionic snake-shaped robot for motion verification, adjust the value of g according to the required speed of the bionic snake-shaped robot, and according to the actual trajectory of the bionic snake-shaped robot Adjust the value of α, β. 2. A bionic snake-shaped robot motion gait planning system, wherein the system comprises: The trajectory image acquisition module is used to acquire the snake's meandering motion trajectory image; The trajectory function building module is used to construct a trajectory function according to the snake's meandering motion trajectory image, which specifically includes: obtaining a preliminary draft function about the trajectory according to the snake's meandering motion trajectory image; selecting feature points, and substituting the coordinates of the feature points into the preliminary Formulate a function, and find out the relationship between amplitude, frequency and initial phase in the preliminary proposed function; build a trajectory function according to the relationship between amplitude, frequency and initial phase; The preliminary proposed function is as follows:

Among them, i(x)=ax+b, (a, b) is the eigenvector of amplitude; w(x)=cx+d, (c, d) is the eigenvector of frequency;

(e, f) are the eigenvectors of the initial phase; The time variable addition module is used to add time variables to the trajectory function to obtain the dynamic trajectory function with time, as follows:

in,

t is the time, g is the motion speed parameter; The curvature calculation module is used to find the curvature of the motion trajectory function. The calculation is as follows: f(x,t)=∫∫g(x,t)dx Among them, t is the time, and x is the trajectory position; The curvature function acquisition module is used to convert the trajectory position into the length of the snake body according to the curvature of the motion trajectory function, and obtain the curvature function. =∫g(x,t)dx, get the curvature function g(s,t); The steering gear rotation parameter determination module is used to determine the steering gear rotation parameters of the bionic snake-shaped robot according to the curvature function, so as to complete the motion gait planning of the bionic snake-shaped robot; wherein, according to the curvature function, the The steering gear rotation parameters specifically include: the result obtained by multiplying the distance k between adjacent steering gears and the number of steering gear segments n is substituted into the curvature function to obtain the curvature g(nk, t) at each steering gear; Curvature, determine the steering gear rotation parameter of the bionic snake robot as θ(nk, t)=αg(nk, t)+β; After completing the motion gait planning of the bionic snake-shaped robot, compile the steering gear rotation parameters into codes and input them into the bionic snake-shaped robot for motion verification, adjust the value of g according to the required speed of the bionic snake-shaped robot, and according to the actual trajectory of the bionic snake-shaped robot Adjust the value of α, β. 3. a computer equipment, comprising processor and the memory that is used to store the executable program of processor, it is characterized in that, when described processor executes the program stored in memory, realizes the bionic snake-shaped robot motion step described in claim 1 state planning method. 4 . A storage medium storing a program, wherein when the program is executed by a processor, the method for planning the motion gait of a bionic snake-shaped robot according to claim 1 is implemented. 5 .

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