Detail publikačního výsledku

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

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

Originální název

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

Anglický název

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

Druh

Článek Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

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

Klíčová slova v angličtině

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

Autoři

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

Rok RIV

2021

Vydáno

24.08.2020

Nakladatel

Brno University of Technology

Místo

Brno, Czech Republic

ISSN

1803-3814

Periodikum

Mendel Journal series

Svazek

26 (2020)

Číslo

1

Stát

Česká republika

Strany od

1

Strany do

6

Strany počet

6

URL

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

Plný text v Digitální knihovně

http://hdl.handle.net/

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"
}