Research on redundancy control system for snake robot

A kind of high redundancy control system of snake robot is investigated by studying the redundancy control and combining the mechanism of annelid´s nervous system with circulation system. The system consists of a three-tier communication bus and a variable information channel structure. As some local damage exists, the communication system rebuilds the connection with undamaged nodes by changing the channel structure adaptively. Power management, motion control and damage test are optimized to improve the reliability of the system. The robot system with great redundancy is demonstrated based on the simulation of validating scene in the complex environment, which can provide technical support for engineering technology.