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<p>Snake robots with multiple redundant degrees of freedom face challenges in achieving accurate directional movement in water environments. The locomotion efficiency decreases when the robot’s trajectory deviates from the expected direction due to the combined effects of hydrodynamic forces and control limitations. In this paper, we conduct research and analysis to improve the orientability and stability of serpentine locomotion in aquatic conditions. First, a dynamic model employing Kane’s equations and a control model utilizing central pattern generators (CPG) are established. Building on this framework, a fuzzy PID controller is proposed to regulate head orientation during aquatic locomotion. The proposed method operates through three phases: In the first step, a virtual head module is introduced to establish kinematic relationships between the oriented head and body modules, followed by the development of evaluation metrics for orientation performance. In the second step, a new controller integrating the fuzzy strategy is designed for head-oriented serpentine locomotion control in water. In the last step, fuzzy reasoning and rules are systematically formulated, with the controller’s effectiveness in reducing the deflection angle for the robot’s stability enhancement verified. Finally, simulations and experiments are given to demonstrate the proposed method. This research work provides critical engineering guidance for snake robots to execute operations in water.</p>

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Head Orientation Control Based on Fuzzy Strategy for a Snake Robot in Water

  • 期刊论文

  • 发表日期：

    2025年11月4日

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  • Peng Zhang,
  • Xuejie Ma,
  • Xupeng Liu,
  • Yi Yang,
  • Ben Guan,
  • Zhiying Gao,
  • Yong Zang

摘要

Snake robots with multiple redundant degrees of freedom face challenges in achieving accurate directional movement in water environments. The locomotion efficiency decreases when the robot’s trajectory deviates from the expected direction due to the combined effects of hydrodynamic forces and control limitations. In this paper, we conduct research and analysis to improve the orientability and stability of serpentine locomotion in aquatic conditions. First, a dynamic model employing Kane’s equations and a control model utilizing central pattern generators (CPG) are established. Building on this framework, a fuzzy PID controller is proposed to regulate head orientation during aquatic locomotion. The proposed method operates through three phases: In the first step, a virtual head module is introduced to establish kinematic relationships between the oriented head and body modules, followed by the development of evaluation metrics for orientation performance. In the second step, a new controller integrating the fuzzy strategy is designed for head-oriented serpentine locomotion control in water. In the last step, fuzzy reasoning and rules are systematically formulated, with the controller’s effectiveness in reducing the deflection angle for the robot’s stability enhancement verified. Finally, simulations and experiments are given to demonstrate the proposed method. This research work provides critical engineering guidance for snake robots to execute operations in water.