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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
Pages to
6
Pages count
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" }