CN113084787B - Bionic snake-shaped robot motion gait planning method, system, equipment and medium - Google Patents
Bionic snake-shaped robot motion gait planning method, system, equipment and medium Download PDFInfo
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Abstract
The invention discloses a method, a system, equipment and a medium for planning the movement gait of a bionic snake-shaped robot, wherein the method comprises the following steps: acquiring a snake winding motion track image; constructing a track function according to a snake winding motion track image of a snake; adding a time variable into the track function to obtain a motion track function which is dynamic along with time; solving the curvature of the motion track function; according to the curvature of the motion track function, converting the track position into the snake body length to obtain a curvature function; and determining the rotation parameters of the steering engine of the bionic snake-shaped robot according to the curvature function so as to complete the movement gait planning of the bionic snake-shaped robot. The invention can realize the simulation of various motions of the true snake in the simplest mode, improves the efficiency of gait planning for the bionic snake-shaped robot and effectively reduces the complexity of gait planning of the bionic snake-shaped robot.
Description
Technical Field
The invention relates to a method, a system, equipment and a medium for planning the movement gait of a bionic snake-shaped robot, belonging to the technical field of robot movement gait control.
Background
Gait planning is a control method for moving a robot in accordance with a planned gait. The gait planning method includes the following methods: a bionics method, an intelligent learning algorithm, model simplification, and the like. A gait planning method based on bionics is the most mainstream gait planning method of a snake-shaped robot, the snake-shaped robot is a robot manufactured by simulating the shape and the behavior of a snake and has a snake-like mechanical structure, the gait planning method based on bionics is that an instrument is used for recording motion data of the snake during meandering or peristalsis, then the recorded data is analyzed and processed, and finally the gait planning method is corrected to be in accordance with the driving mode, the mass distribution and the mechanical structure of the snake-shaped bionic robot. And finally, taking the corrected data as an input control parameter of the robot. Bionics is a comprehensive marginal discipline appearing in the 60's of the 20 th century, which is formed by the interpenetration and mutual combination of life science and engineering technology science. It can be said that the research of bionics plays a very important role in the development of science and technology and society. Bionic systems have become the key topic of modern research because of their ability to embody and reproduce vital signs. The physical realization of the autonomous movement and adaptability of the life system not only can release people from heavy, dangerous and tedious working environments, but also can replace people to complete complex operations in dangerous occasions. Bionics applies the life principle to the research and design of engineering systems, especially plays a great role in promoting the increasingly developed robotics department at present, and promotes the vigorous development of the field of bionic robots. However, modification of the actual snaking motion into the input control parameters of the robot after the bionics research often requires a large amount of work.
Disclosure of Invention
In view of the above, the invention provides a method, a system, equipment and a medium for gait planning of motion of a bionic snake-shaped robot, which can realize simulation of various motions of a true snake by the bionic snake-shaped robot in the simplest mode, improve the gait planning efficiency of the bionic snake-shaped robot and effectively reduce the gait planning complexity of the bionic snake-shaped robot.
The invention aims to provide a bionic snake-shaped robot motion gait planning method.
The second purpose of the invention is to provide a bionic snake-shaped robot motion gait planning system.
It is a third object of the invention to provide a computer apparatus.
It is a fourth object of the present invention to provide a storage medium.
The first purpose of the invention can be achieved by adopting the following technical scheme:
a method of motion gait planning for a biomimetic serpentine robot, the method comprising:
acquiring a snake winding motion track image;
constructing a track function according to the snake-like motion track image of the snake;
adding a time variable into the track function to obtain a motion track function which is dynamic along with time;
solving the curvature of the motion track function;
according to the curvature of the motion track function, converting the track position into the snake body length to obtain a curvature function;
and determining the rotation parameters of the steering engine of the bionic snake-shaped robot according to the curvature function so as to complete the movement gait planning of the bionic snake-shaped robot.
Further, the method for constructing the trajectory equation according to the snake-like motion trajectory image specifically comprises the following steps:
obtaining a preliminary formulated function related to the track according to the snake-like motion track image of the snake;
selecting characteristic points, substituting the coordinates of the characteristic points into the preliminary formulated function, and solving a relational expression of the amplitude, the frequency and the initial phase in the preliminary formulated function;
and constructing a track function according to the relation among the amplitude, the frequency and the initial phase.
Further, the preliminary function is as follows:
where i (x) ax + b, (a, b) is a feature vector of the amplitude; w (x) cx + d, (c, d) is a feature vector of frequency;
and (e, f) is a feature vector of the initial phase.
Further, adding a time variable to the trajectory function to obtain a motion trajectory function dynamic with time, as follows:
wherein,
t is time and g is a 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 time and x is track position.
Further, according to the curvature of the motion trajectory function, the trajectory position is converted into the snake body length to obtain a curvature function, which specifically comprises:
according to the curvature of the motion trajectory function, the trajectory position is converted into the snake length, i.e., s ═ g (x, t) dx is taken to obtain the curvature function g (s, t).
Further, according to the curvature function, the steering engine rotation parameter of the bionic snake-shaped robot is determined, and the method specifically comprises the following steps:
substituting the result obtained by multiplying the distance k between the adjacent steering engines by the steering engine pitch number n into a curvature function to obtain the curvature g (nk, t) of each steering engine;
according to the curvature of each steering engine, determining the steering engine rotation parameter of the bionic snake-shaped robot as theta (nk, t) ═ alpha g (nk, t) + beta.
The second purpose of the invention can be achieved by adopting the following technical scheme:
a bionic snake-like robot motion gait planning system, the system comprising:
the track image acquisition module is used for acquiring a snake-winding motion track image of a snake;
the track function building module is used for building a track function according to the snake-like motion track image of the snake;
the time variable adding module is used for adding a time variable into the track function to obtain a motion track function dynamic along with time;
the curvature calculation module is used for solving the curvature of the motion track function;
the curvature function acquisition module is used for converting the track position into the snake body length according to the curvature of the motion track function to obtain a curvature function;
a steering engine rotation parameter determining module for determining the steering engine rotation parameter of the bionic snake-shaped robot according to the curvature function so as to complete the movement gait planning of the bionic snake-shaped robot
The third purpose of the invention can be achieved by adopting the following technical scheme:
a computer device comprises a processor and a memory for storing a program executable by the processor, wherein the processor executes the program stored by the memory to realize the method for planning the movement gait of the bionic snake-shaped robot.
The fourth purpose of the invention can be achieved by adopting the following technical scheme:
a storage medium storing a program which, when executed by a processor, implements the above-described method for planning a gait of a bionic snake robot.
Compared with the prior art, the invention has the following beneficial effects:
according to the method, the meandering motion track image of the real snake is obtained, the track function is constructed according to the motion track image, and the time variable is added into the track function to obtain the motion track function dynamic along with time, so that the steering engine control parameters at the joint of the bionic snake-shaped robot can be obtained, the bionic snake-shaped robot can simulate various motions of the real snake in the simplest mode, the gait planning efficiency of the bionic snake-shaped robot is improved, and the gait planning complexity of the bionic snake-shaped robot is effectively reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a simple flowchart of a method for planning a motion gait of a bionic snake-like robot in embodiment 1 of the invention.
Fig. 2 is a detailed flowchart of a gait planning method for the bionic snake-like robot in embodiment 1 of the invention.
Fig. 3 is a diagram showing a movement locus at a certain time of the snake-like winding movement in example 1 of the present invention.
Fig. 4 is a mechanical principle analysis diagram of the bionic snake-shaped robot in the embodiment 1 of the invention during the meandering gait.
Fig. 5 is a mathematical model diagram of snake movement locus constructed by actual locus in embodiment 1 of the invention.
Fig. 6 is a structural block diagram of a bionic snake-like robot motion gait planning system in embodiment 2 of the invention.
Fig. 7 is a block diagram of a computer device according to embodiment 3 of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and all other embodiments obtained by a person of ordinary skill in the art without making creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, subprograms, and the like.
Example 1:
the motion of the snake can be regarded as the transmission of some traveling waves, and the transmission regularity and repeatability of the snake are realized, namely the body shape at a certain moment is consistent with the track of the snake which moves on the road, and the wriggling and bending conditions of the snake body can be obtained through the research on the motion track of the snake, so that the control parameters of the steering engine at the joint of the bionic snake-shaped robot can be obtained; as shown in fig. 1 and fig. 2, the present embodiment provides a gait planning method for the motion of a bionic snake-like robot, which comprises the following steps:
s101, acquiring a snake-like motion track image.
The meandering motion track image of the true snake is selected as shown in fig. 3, and the feasibility of the simplest mechanical principle analysis is carried out on the track analysis: the snake body is contracted at the front end of the snake body and is expanded at the rear end, the snake body can move forwards along a track by the combined force of the two parts and the movement of the snake skin layer, and the mechanical principle analysis of the snake joint is shown in figure 4.
S102, constructing a track function according to the snake-like motion track image.
The step S102 specifically includes:
and S1021, obtaining a preliminary setting function related to the track according to the snake-like motion track image of the snake.
In particular, with respect to trajectories, under preliminary observation conclusions, the trajectories can be described with the following preliminary formulated functions:
i (x), w (x) and
for the key parameters of the preliminary formulated function, three key parameters can be identified as the first order equation for the trajectory position x:
i(x)＝ax+b
w(x)＝cx+d
wherein (a, b) is a feature vector of the amplitude, and a and b are feature values of the amplitude; (c, d) is a feature vector of the frequency, and c and d are feature values of the frequency; and (e, f) is a feature vector of the initial phase, and e and f are feature values of the initial phase.
S1022, selecting the characteristic points, substituting the coordinates of the characteristic points into the preliminary formulated function, and solving the relational expression of the amplitude, the frequency and the initial phase in the preliminary formulated function.
And S1023, constructing a track function according to the relation among the amplitude, the frequency and the initial phase.
The amplitude eigenvector, the frequency eigenvector and the initial phase eigenvector can be solved by the amplitude vector, the frequency vector and the initial phase vector constructed by two characteristic points on the motion trail image, different motion characteristics, namely different eigenvectors, often exist at different parts of the snake body, so that discontinuous relation formulas i (x), w (x) of the amplitude, the frequency and the initial phase can be obtained,
the track function, namely the track equation, during the snake motion can be established only by taking the proper characteristic point coordinates.
The mathematical model of the snake-like motion track constructed by the actual track of the image of the snake-like motion track is shown in fig. 5, and a track function derived by using a series of characteristic 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 trace code for the trace function is as follows:
and S103, adding a time variable into the track function to obtain a motion track function dynamic along with time.
Adding time t to the established trajectory equation to enable the phase angle
Become time variable
The following formula:
wherein g is a motion speed parameter, the magnitude of which determines the speed of motion and is set by a designer.
Thus, by adding a time variable
Obtaining a motion trajectory function dynamic with time, namely a motion trajectory equation, as follows:
and S104, calculating the curvature of the motion track function.
Specifically, finding the curvature of the obtained motion trajectory function is an important step for parameter processing and conversion, and the curvature of the motion trajectory function is calculated as follows:
f(x，t)＝∫∫g(x,t)dx
s105, converting the track position into the snake body length according to the curvature of the motion track function to obtain a curvature function;
specifically, the curvature function g (s, t) is obtained by converting the argument trajectory position x into the snake length s according to the curvature of the motion trajectory function, i.e., let s ═ g (x, t) dx.
And S106, determining the steering engine rotation parameters of the bionic snake-shaped robot according to the curvature function so as to complete the movement gait planning of the bionic snake-shaped robot.
And measuring the distance between the steering engines, substituting the result obtained by multiplying the distance k between the adjacent steering engines by the number n of the steering engine joints into s of the curvature function g (s, t), namely, obtaining the curvature g (nk, t) of each steering engine.
Therefore, according to the curvature of each steering engine, the steering engine rotation parameters (namely steering engine control parameters) of the bionic snake-shaped robot are determined as follows:
θ(nk,t)＝αg(nk,t)+β
where α, β can be determined empirically, β is typically set to 90 and α ranges from 45 to 90.
The control function derived by 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 steering engine control code after the control function is simplified 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 steps S101-S106, the movement gait planning of the bionic snake-shaped robot is completed, then the parameters can be compiled into codes to be input into the bionic snake-shaped robot for movement verification, the value of g can be adjusted according to the required speed of the bionic snake-shaped robot, and the values of alpha and beta can be adjusted according to the actual track of the bionic snake-shaped robot.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program instructing associated hardware, and the corresponding program may be stored in a computer-readable storage medium.
Example 2:
as shown in fig. 6, the present embodiment provides a gait planning system for motion of a bionic snake-like robot, the system includes a trajectory image acquisition module 601, a trajectory function construction module 602, a time variable adding module 603, a curvature calculation module 604, a curvature function acquisition module 605, and a steering engine rotation parameter determination module 606, and the specific functions of each module are as follows:
and a track image acquiring module 601, configured to acquire a serpentine motion track image of the snake.
And a track function constructing module 602, configured to construct a track function according to the snake-like motion track image of the snake.
And a time variable adding module 603, configured to add a time variable to the trajectory function to obtain a motion trajectory function that is dynamic with time.
And a curvature calculating module 604 for calculating the curvature of the motion trajectory function.
And a curvature function obtaining module 605, configured to convert the trajectory position into a snake length according to a curvature of the motion trajectory function, so as to obtain a curvature function.
And a steering engine rotation parameter determining module 606, configured to determine a steering engine rotation parameter of the bionic snake-like robot according to the curvature function, so as to complete the movement gait planning of the bionic snake-like robot.
The specific implementation of each module in this embodiment may refer to embodiment 1, which is not described herein any more; it should be noted that, the system provided in this embodiment is only illustrated by dividing the functional modules, and in practical applications, the functions may be allocated to different functional units as needed to complete, that is, the internal structure is divided into different functional modules to complete all or part of the functions described above.
Example 3:
as shown in fig. 7, the present embodiment provides a computer apparatus, which may be a computer, a server, or the like, including a processor 702, a memory, an input device 703, a display 704, and a network interface 705, connected through a system bus 701. Wherein, the processor 702 is used for providing calculation and control capability, the memory includes a nonvolatile storage medium 706 and an internal memory 707, the nonvolatile storage medium 706 stores an operating system, a computer program and a database, the internal memory 707 provides an environment for the operating system and the computer program in the nonvolatile storage medium 706 to run, and when the computer program is executed by the processor 702, the bionic snake-shaped robot motion gait planning method of the above embodiment 1 is implemented as follows:
acquiring a snake winding motion track image;
constructing a track function according to a snake winding motion track image of a snake;
adding a time variable into the track function to obtain a motion track function which is dynamic along with time;
solving the curvature of the motion track function;
according to the curvature of the motion track function, converting the track position into the snake body length to obtain a curvature function;
and determining the rotation parameters of the steering engine of the bionic snake-shaped robot according to the curvature function so as to complete the movement gait planning of the bionic snake-shaped robot.
Further, the method for constructing the trajectory equation according to the snake-shaped motion trajectory image specifically comprises the following steps:
obtaining a preliminary formulated function related to the track according to the snake-like motion track image of the snake;
selecting characteristic points, substituting the coordinates of the characteristic points into the preliminary formulated function, and solving a relational expression of the amplitude, the frequency and the initial phase in the preliminary formulated function;
and constructing a track function according to the relation among the amplitude, the frequency and the initial phase.
Example 4:
the present embodiment provides a storage medium, which is a computer-readable storage medium, and stores a computer program, and when the computer program is executed by a processor, the method for planning gait of motion of a bionic snake-shaped robot in the above embodiment 1 is implemented as follows:
acquiring a snake winding motion track image;
constructing a track function according to the snake-like motion track image of the snake;
adding a time variable into the track function to obtain a motion track function dynamic along with time;
solving the curvature of the motion track function;
according to the curvature of the motion track function, converting the track position into the snake body length to obtain a curvature function;
and determining the rotation parameters of the steering engine of the bionic snake-shaped robot according to the curvature function so as to complete the movement gait planning of the bionic snake-shaped robot.
Further, constructing a trajectory equation according to the snake-like motion trajectory image of the snake specifically comprises:
obtaining a preliminary formulated function related to the track according to the snake-like motion track image of the snake;
selecting characteristic points, substituting the coordinates of the characteristic points into the preliminary formulated function, and solving a relational expression of the amplitude, the frequency and the initial phase in the preliminary formulated function;
and constructing a track function according to the relation among the amplitude, the frequency and the initial phase.
It should be noted that the computer readable storage medium of the present embodiment may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present embodiment, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this embodiment, however, a computer readable signal medium may include a propagated data signal with a computer readable program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer-readable storage medium may be embodied in a computing device; or may exist separately and not be assembled into the computing device. The computer program for carrying out operations of the present embodiments may be written in one or more programming languages, including an object oriented programming language such as Java, Python, C + +, and conventional procedural programming languages, such as the C language, or similar programming languages, or combinations thereof. 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 type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods, systems, and computer devices according to 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 comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block 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 will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. The modules described in the above embodiments may be implemented by software or hardware.
The foregoing description is only exemplary of the preferred embodiments of the invention and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure in the embodiments described above is not limited to the particular combination of features described above, and that other embodiments can be made by any combination of features described above or their equivalents without departing from the spirit of the disclosure. For example, the above features and (but not limited to) the features with similar functions disclosed in the above embodiments are replaced with each other to form the technical solution.
In conclusion, the invention obtains the motion track function dynamic with time by obtaining the winding motion track image of the real snake, constructing the track function according to the motion track image and adding the time variable into the track function, thereby obtaining the steering engine control parameter at the joint of the bionic snake-shaped robot, realizing the simulation of various motions of the real snake by the bionic snake-shaped robot in the simplest mode, improving the efficiency of gait planning for the bionic snake-shaped robot and effectively reducing the complexity of gait planning of the bionic snake-shaped robot.
It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described above, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (4)
1. A bionic snake-shaped robot motion gait planning method is characterized by comprising the following steps:
acquiring a snake winding motion track image;
constructing a track function according to a snake-like motion track image of a snake, which specifically comprises the following steps: obtaining a preliminary formulated function related to the track according to the snake-like motion track image of the snake; selecting characteristic points, substituting the coordinates of the characteristic points into the preliminary formulated function, and solving a relational expression of the amplitude, the frequency and the initial phase in the preliminary formulated function; constructing a track function according to the relation among the amplitude, the frequency and the initial phase;
the preliminary function is as follows:
where i (x) ax + b, (a, b) is a feature vector of the amplitude; w (x) cx + d, (c, d) is a feature vector of frequency;
(e, f) is a characteristic vector of the initial phase;
adding a time variable into the track function to obtain a motion track function dynamic along with time, wherein the motion track function is as follows:
wherein,
t is time, and g is a motion speed parameter;
the curvature of the motion trajectory function is calculated as follows:
f(x，t)＝∫∫g(x，t)dx
wherein t is time, and x is track position;
according to the curvature of the motion track function, converting the track position into the snake body length to obtain a curvature function, which is specifically as follows: converting a trajectory position x into a snake body length s according to the curvature of the motion trajectory function, namely making s ═ g (x, t) dx to obtain a curvature function g (s, t);
determining the steering engine rotation parameters of the bionic snake-shaped robot according to the curvature function so as to complete the movement gait planning of the bionic snake-shaped robot; wherein, according to the curvature function, the steering engine rotation parameter of the bionic snake-shaped robot is determined to specifically comprise: substituting the result obtained by multiplying the distance k between the adjacent steering engines by the steering engine pitch number n into a curvature function to obtain the curvature g (nk, t) of each steering engine; determining steering engine rotation parameters of the bionic snake-shaped robot as theta (nk, t) ═ alpha g (nk, t) + beta according to the curvature of each steering engine;
after the movement gait planning of the bionic snake-shaped robot is completed, the rotation parameters of the steering engine are compiled into codes and input into the bionic snake-shaped robot for movement verification, the value of g is adjusted according to the required speed of the bionic snake-shaped robot, and the values of alpha and beta are adjusted according to the actual track of the bionic snake-shaped robot.
2. A motion gait planning system for a biomimetic serpentine robot, the system comprising:
the track image acquisition module is used for acquiring a snake-winding motion track image of a snake;
the track function building module is used for building a track function according to a snake-like motion track image of a snake, and specifically comprises the following steps: obtaining a preliminary formulated function related to the track according to the snake winding motion track image of the snake; selecting characteristic points, substituting the coordinates of the characteristic points into the preliminary formulated function, and solving a relational expression of the amplitude, the frequency and the initial phase in the preliminary formulated function; constructing a track function according to the relation among the amplitude, the frequency and the initial phase;
the preliminary developed function is as follows:
where i (x) ax + b, (a, b) is a feature vector of the amplitude; w (x) cx + d, (c, d) is a feature vector of frequency;
(e, f) is a feature vector of the initial phase;
the time variable adding module is used for adding a time variable into the track function to obtain a motion track function dynamic along with time, and the motion track function dynamic along with the time is as follows:
wherein,
t is time, and g is a motion speed parameter;
the curvature calculation module is used for solving the curvature of the motion track function and calculating the curvature as follows:
f(x，t)＝∫∫g(x，t)dx
wherein t is time, and x is track position;
the curvature function acquisition module is used for converting the track position into the snake body length according to the curvature of the motion track function to obtain a curvature function, and specifically comprises the following steps: converting a trajectory position x into a snake body length s according to the curvature of the motion trajectory function, namely making s ═ g (x, t) dx to obtain a curvature function g (s, t);
the steering engine rotation parameter determining module is used for determining the steering engine rotation parameters of the bionic snake-shaped robot according to the curvature function so as to complete the movement gait planning of the bionic snake-shaped robot; wherein, according to the curvature function, the steering engine rotation parameter of the bionic snake-shaped robot is determined to specifically comprise: substituting the result obtained by multiplying the distance k between the adjacent steering engines by the steering engine pitch number n into a curvature function to obtain the curvature g (nk, t) of each steering engine; determining steering engine rotation parameters of the bionic snake-shaped robot to be theta (nk, t) ═ alpha g (nk, t) + beta according to the curvature of each steering engine;
after the movement gait planning of the bionic snake-shaped robot is completed, the rotation parameters of the steering engine are compiled into codes and input into the bionic snake-shaped robot for movement verification, the value of g is adjusted according to the required speed of the bionic snake-shaped robot, and the values of alpha and beta are adjusted according to the actual track of the bionic snake-shaped robot.
3. A computer device comprising a processor and a memory for storing a program executable by the processor, wherein the processor, when executing the program stored in the memory, implements the method for planning gait of motion of a biomimetic serpentine robot as recited in claim 1.
4. A storage medium storing a program, wherein the program, when executed by a processor, implements the method for planning a gait for moving a biomimetic serpentine robot according to claim 1.
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