Research on Pipeline Climbing Gait Control of Snake Robot Based on Compound Gait

To address the instability issues encountered by snake robots during climbing variable diameter pipes and curved pipes, a compound gait that combines decoupled climbing gait and serpentine gait is proposed. By utilizing sensor data to assess the climbing environment, and combining with extended Kalman filtering (EKF) for control parameter estimation, a parameter adaptive control method is designed. This method can improve the accuracy of perception environment and enhance the motion stability performance. Finally, the effectiveness of the proposed adaptive climbing gait is validated through simulation experiments.