Publication detail

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

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

English title

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

Type

journal article in Scopus

Language

en

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.

English 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 in English

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

Released

24.08.2020

Publisher

Brno University of Technology

Location

Brno, Czech Republic

ISSN

1803-3814

Volume

26 (2020)

Number

1

Pages from–to

1–6

Pages count

6

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",
  year="2020",
  volume="26 (2020)",
  number="1",
  month="August",
  pages="1--6",
  publisher="Brno University of Technology",
  address="Brno, Czech Republic",
  issn="1803-3814"
}