Publication detail

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

HŮLKA, T. MATOUŠEK, R. DOBROVSKÝ, L. DOSOUDILOVÁ, M. NOLLE, L.

Original Title

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

Type

journal article in Scopus

Language

English

Original Abstract

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.

Keywords

Snake-like robot, serpenoid curve, genetic algorithm, physical simulation, PhysX

Authors

HŮLKA, T.; MATOUŠEK, R.; DOBROVSKÝ, L.; DOSOUDILOVÁ, M.; NOLLE, L.

Released

24. 8. 2020

Publisher

Brno University of Technology

Location

Brno, Czech Republic

ISBN

1803-3814

Periodical

Mendel Journal series

Year of study

26 (2020)

Number

1

State

Czech Republic

Pages from

1

Pages to

6

Pages count

6

URL

https://mendel-journal.org/index.php/mendel/article/view/113

BibTex

@article{BUT166042,
  author="Tomáš {Hůlka} and Radomil {Matoušek} and Ladislav {Dobrovský} and Monika {Dosoudilová} and Lars {Nolle}",
  title="Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design",
  journal="Mendel Journal series",
  year="2020",
  volume="26 (2020)",
  number="1",
  pages="1--6",
  doi="10.13164/mendel.2020.1.001",
  issn="1803-3814",
  url="https://mendel-journal.org/index.php/mendel/article/view/113"
}