中文摘要：

设计了蛇形机器人及其双向被动轮地面接触机构，给出了相应模块单元工程实现的技术路线，测试了该机器人系统在具体环境中应用蛇形曲线公式参数仅完成蜿蜒运动的性能及结合幅值调整法实现转弯的功能。应用红外传感器来感知障碍物的几何特性。针对不同尺寸障碍物采用绕障蜿蜒运动行进策略或顺障蜿蜒运动行进策略实现避障功能。该工作为蛇形机器人实用化提供技术储备。

英文摘要：

A snake-like robot and its ground contacting mechanism with dual directional passive wheels were developed, and the technical solution for engineers to re-produce the corresponding modules was given. The performance of the robot in achieving serpentine locomotion by using the parameter c~ of the serpoind curve formula in given environ- ments and its function of realizing turn motion based on amplitude modulation were tested. An infrared sensor was used to sense the geometrical properties of obstacles, and the robot can adopt the direct serpentine locomotion or the roundabout sperpentine locomotion to realize obstacle avoidance according to the measured geometrical properties of obstacles. The study provides the technical reserve for practicalizing snake-like robots.