Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F20%3APU137816" target="_blank" >RIV/00216305:26210/20:PU137816 - isvavai.cz</a>

Result on the web

<a href="https://mendel-journal.org/index.php/mendel/article/view/113" target="_blank" >https://mendel-journal.org/index.php/mendel/article/view/113</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.13164/mendel.2020.1.001" target="_blank" >10.13164/mendel.2020.1.001</a>

Result language

angličtina

Original language name

Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design

Original language description

This work investigates the locomotion efficiency of snake-like robots through evolutionary optimization using the simulation framework PhysX (NVIDIA). The Genetic Algorithm (GA) is used to find the optimal forward head serpentine gait parameters, and the snake speed is taken into consideration in the optimization. A fitness function covering robot speed is based on a complex physics simulation in PhysX. A general serpenoid form is applied to each joint. Optimal gait parameters are calculated for a virtual model in a simulation environment. The fitness function evaluation uses the Simulation In the Loop (SIL) technique, where the virtual model is an approximation of a real snake-like robot. Experiments were performed using an 8-link snake robot with a given mass and a different body friction. The aim of the optimization was speed and length of the trace.

Czech name

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Czech description

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Type

J_SC - Article in a specialist periodical, which is included in the SCOPUS database

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2020

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Mendel Journal series

ISSN

1803-3814

e-ISSN

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Volume of the periodical

26 (2020)

Issue of the periodical within the volume

1

Country of publishing house

CZ - CZECH REPUBLIC

Number of pages

6

Pages from-to

1-6

UT code for WoS article

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EID of the result in the Scopus database

2-s2.0-85090811708