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

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dc.contributor.authorHůlka, Tomáš
dc.contributor.authorMatoušek, Radomil
dc.contributor.authorDobrovský, Ladislav
dc.contributor.authorDosoudilová, Monika
dc.contributor.authorNolle, Lars
dc.coverage.issue1cs
dc.coverage.volume26cs
dc.date.accessioned2020-09-01T07:01:21Z
dc.date.available2020-09-01T07:01:21Z
dc.date.issued2020-08-24cs
dc.description.abstractThis 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.en
dc.formattextcs
dc.format.extent1-6cs
dc.format.mimetypeapplication/pdfen
dc.identifier.citationMendel. 2020 vol. 26, č. 1, s. 1-6. ISSN 1803-3814cs
dc.identifier.doi10.13164/mendel.2020.1.001en
dc.identifier.issn2571-3701
dc.identifier.issn1803-3814
dc.identifier.urihttp://hdl.handle.net/11012/195020
dc.language.isoencs
dc.publisherInstitute of Automation and Computer Science, Brno University of Technologycs
dc.relation.ispartofMendelcs
dc.relation.urihttps://mendel-journal.org/index.php/mendel/article/view/113cs
dc.rightsCreative Commons Attribution-NonCommercial-ShareAlike 4.0 International licenseen
dc.rights.accessopenAccessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0en
dc.subjectSnake-like roboten
dc.subjectserpenoid curveen
dc.subjectgenetic algorithmen
dc.subjectphysical simulationen
dc.subjectPhysXen
dc.titleOptimization of Snake-like Robot Locomotion Using GA: Serpenoid Designen
dc.type.driverarticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
eprints.affiliatedInstitution.facultyFakulta strojního inženýrstvícs
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