Dynamical Modeling and Gait Optimization of a 2-D Modular Snake Robot in a Confined Space

K.H.J. Classens; M.A.J. Koopaee; Christopher Pretty; Siep Weiland; Xiao Qi Chen

doi:10.1016/j.ifacol.2020.12.2648

Dynamical Modeling and Gait Optimization of a 2-D Modular Snake Robot in a Confined Space

K.H.J. Classens, M.A.J. Koopaee, Christopher Pretty, Siep Weiland, Xiao Qi Chen

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Abstract

A model-based optimal gait is obtained for the 2-D locomotion of a modular snake robot in a duct. Optimality is considered in the sense of traveling as fast as possible or traveling with minimal energy consumption. The novelty of the work lies in the development of a framework to cast the full dynamic behavior, including contact constraints with simple objects, into an optimization problem which allows for gait parameter, control parameter and/or physical parameter optimization. Optimal gait and control parameters are found via a surrogate optimization procedure which reveals optimal locomotion strategies depending on the duct width and optimization criteria. The framework is tested and illustrated with a number of optimizations of 2-D locomotion of a snake robot where either traveling time or energy consumption is minimized.

Original language	English
Pages (from-to)	9754–9759
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	53
Issue number	2
DOIs	https://doi.org/10.1016/j.ifacol.2020.12.2648
Publication status	Published - 2020
Event	21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress) - Berlin, Germany Duration: 12 Jul 2020 → 17 Jul 2020 Conference number: 21 https://www.ifac2020.org/

Keywords

Dynamic modeling
Global optimization
Model-based control
Snake robot

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1016/j.ifacol.2020.12.2648

Classens et al. - 2020 - Dynamical Modeling and Gait Optimization of a 2-DFinal author version , 1.85 MB

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title = "Dynamical Modeling and Gait Optimization of a 2-D Modular Snake Robot in a Confined Space",

abstract = "A model-based optimal gait is obtained for the 2-D locomotion of a modular snake robot in a duct. Optimality is considered in the sense of traveling as fast as possible or traveling with minimal energy consumption. The novelty of the work lies in the development of a framework to cast the full dynamic behavior, including contact constraints with simple objects, into an optimization problem which allows for gait parameter, control parameter and/or physical parameter optimization. Optimal gait and control parameters are found via a surrogate optimization procedure which reveals optimal locomotion strategies depending on the duct width and optimization criteria. The framework is tested and illustrated with a number of optimizations of 2-D locomotion of a snake robot where either traveling time or energy consumption is minimized.",

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AU - Pretty, Christopher

AU - Weiland, Siep

AU - Chen, Xiao Qi

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AB - A model-based optimal gait is obtained for the 2-D locomotion of a modular snake robot in a duct. Optimality is considered in the sense of traveling as fast as possible or traveling with minimal energy consumption. The novelty of the work lies in the development of a framework to cast the full dynamic behavior, including contact constraints with simple objects, into an optimization problem which allows for gait parameter, control parameter and/or physical parameter optimization. Optimal gait and control parameters are found via a surrogate optimization procedure which reveals optimal locomotion strategies depending on the duct width and optimization criteria. The framework is tested and illustrated with a number of optimizations of 2-D locomotion of a snake robot where either traveling time or energy consumption is minimized.

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Dynamical Modeling and Gait Optimization of a 2-D Modular Snake Robot in a Confined Space

Abstract

Keywords

UN SDGs

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