为了建立一个可实际应用于蛇形机器人运动的通用且易于控制的步态,提出了一种基于ser-penoid曲线的蠕动步态模型.通过对蠕动运动过程中相邻2个波形的分析和对serpenoid曲线的近似,建立了运动波形上各相邻连杆间的相对角度运动方程和各连杆与基线之间的绝对角度运动方程.并给出该步态的2个效率判据:能量损失函数f和一个周期的单位步长dunit.通过仿真和实验讨论了相关的3个参数(组成运动波形的连杆数n、相邻连杆的夹角α和相邻夹角的相位差β)对步态效率的影响.结果表明:f基本上不受n的影响,增加n可显著提高dunit,α的最大振幅随着n的增大而减小,对于确定的n,f对整个位移的影响随着α的增大而减弱.该步态模型可适用于运动波形由不同连杆数组成的蛇形机器人的蠕动,波形连杆较多或连杆夹角较大均可获得较大的运动速度. In order to establish a general and easily controlled gait that can be applied to the movement of a serpentine robot, a serpentine gait model based on the ser-penoid curve is proposed.According to the analysis of two adjacent waveforms in the process of peristaltic motion, serpenoid curve, the equations of relative angular movement between adjacent links and the equations of absolute angular motion between each link and the baseline are established, and two efficiency criteria of this gait are given: energy loss Function f, and unit cycle dunit of one cycle. The related three parameters (the number n of links making up a motion waveform, the angle α between adjacent links and the phase difference β between adjacent angles) are discussed through simulation and experiments. On the gait efficiency.The results show that: f is basically not affected by n, increase n can significantly improve dunit, the maximum amplitude of α decreases with the increase of n, for the n, f for the entire displacement The influence weakens with the increase of α.The gait model can be applied to the peristaltic movement of a serpentine robot whose motion waveform is composed of different number of connecting rods and the larger number of waveform connecting rods or the larger connecting rod angles Movement speed.