Simulation-In-The-Loop Optimization of Obstacle-Aided Locomotion in Snake-Like Robots

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F26%3A0199664" target="_blank" >RIV/00216305:26210/26:0199664 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.21495/em2025-181" target="_blank" >http://dx.doi.org/10.21495/em2025-181</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.21495/em2025-181" target="_blank" >10.21495/em2025-181</a>

Result language
angličtina
Original language name
Simulation-In-The-Loop Optimization of Obstacle-Aided Locomotion in Snake-Like Robots
Original language description
his study investigates the optimization of obstacle-aided locomotion in snake-like robots through a simulation-in-the-loop framework. A dynamic model of the robot is developed in CoppeliaSim to evaluate contact forces interactions during navigation in environments with varying obstacle densities. These interac- tions are used to optimize the robot’s motion trajectory with minimal actuator energy while penalizing contact forces. The robot’s motion is parametrized by a set of serpentine gait parameters, optimized using Particle Swarm Optimization to exploit beneficial obstacle contacts. Results reveal a trade-off between obstacle uti- lization and energy efficiency, demonstrating the potential of obstacle-aware trajectory planning for enhanced locomotion performance.
Czech name
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Czech description
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Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
31st International Conference ENGINEERING MECHANICS 2025
ISBN
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ISSN
1805-8256
e-ISSN
1805-8256
Number of pages
4
Pages from-to
181-184
Publisher name
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Place of publication
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Event location
Medlov
Event date
May 12, 2025
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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