A Case Study in Optimization of Gait and Physical Parameters for a Snake-Inspired Robot Based on a Rectilinear Gait

Author:

Hopkins James K.1,Spranklin Brent W.1,Gupta Satyandra K.1

Affiliation:

1. Department of Mechanical Engineering and Institute for Systems Research, University of Maryland, College Park, MD 20742

Abstract

Physical parameters of the constituent modules and gait parameters affect the overall performance of snake-inspired robots. Hence, a system-level optimization model needs to concurrently optimize the module parameters and the gait. Incorporating a physics-based model of rectilinear gaits in the system-level optimization model is a computationally challenging problem. This paper presents a case study to illustrate how metamodels of the precomputed optimal rectilinear gaits can be utilized to reduce the complexity of the system-level optimization model. An example is presented to illustrate the importance of concurrently optimizing the module parameters and the gait to obtain the optimal performance for a given mission.

Publisher

ASME International

Subject

Mechanical Engineering

Reference9 articles.

1. A Survey of Snake-Inspired Robot Designs;Hopkins;Bioinspiration & Biomimetics

2. Design of a Crawling Gait for a Modular Robot;Merino

3. Spranklin, B. K. , 2006, “Design, Analysis, and Fabrication of a Snake-Inspired Robot With a Rectilinear Gait,” M.S. thesis, Department of Mechanical Engineering, University of Maryland, College Park.

4. Optimal Trajectories and Force Distribution for Cooperating Arms;Zefran

5. Distance Functions and Their Application to Robot Path Planning in the Presence of Obstacles;Gilbert;IEEE J. Rob. Autom.

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