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Technical Briefs

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

[+] Author and Article Information
James K. Hopkins, Brent W. Spranklin

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

Satyandra K. Gupta

Department of Mechanical Engineering and Institute for Systems Research, University of Maryland, College Park, MD 20742skgupta@eng.umd.edu

J. Mechanisms Robotics 3(1), 014503 (Jan 14, 2011) (5 pages) doi:10.1115/1.4003077 History: Received September 29, 2010; Revised November 07, 2010; Published January 14, 2011; Online January 14, 2011

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.

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Copyright © 2011 by American Society of Mechanical Engineers
Topics: Robots , Optimization
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Figures

Grahic Jump Location
Figure 1

Snake-inspired robot module

Grahic Jump Location
Figure 2

Gait height (g2) performance-based constraint

Grahic Jump Location
Figure 3

Rectilinear-based gait sequence

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