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

Onderzoeksoutput: Bijdrage aan tijdschrift › Congresartikel › peer review

2 Citaten (Scopus)

114 Downloads (Pure)

Samenvatting

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.

Originele taal-2	Engels
Pagina's (van-tot)	9754–9759
Aantal pagina's	6
Tijdschrift	IFAC-PapersOnLine
Volume	53
Nummer van het tijdschrift	2
DOI's	https://doi.org/10.1016/j.ifacol.2020.12.2648
Status	Gepubliceerd - 2020
Evenement	21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress) - Berlin, Duitsland Duur: 12 jul. 2020 → 17 jul. 2020 Congresnummer: 21 https://www.ifac2020.org/

Duurzame ontwikkelingsdoelstellingen van de VN

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SDG 7 – Betaalbare en schone energie

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10.1016/j.ifacol.2020.12.2648

Classens et al. - 2020 - Dynamical Modeling and Gait Optimization of a 2-DFinale auteursversie , 1,85 MB

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2 Citaties
1 Conferentiebijdrage
1 Abstract
1 Tijdschriftartikel

Dynamical modeling and control of modular snake robots with series elastic actuators for pedal wave locomotion on uneven terrain
Koopaee, M. J. (Corresponding author), Pretty, C., Classens, K. & Chen, X. Q., 1 mrt. 2020, In: Journal of Mechanical Design : Transactions of the ASME. 142, 3, 11 blz., 031120.
Onderzoeksoutput: Bijdrage aan tijdschrift › Tijdschriftartikel › Academic › peer review

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16 Link wordt geopend in een nieuw tabblad Citaten (Scopus)

426 Downloads (Pure)
Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments
Koopaee, M. J., Pretty, C., Classens, K. & Chen, X. Q., 25 nov. 2019, 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications. Anaheim, California, USA: American Society of Mechanical Engineers, Vol. 9. 9 blz. DETC2019-97227
Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

Open Access
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5 Link wordt geopend in een nieuw tabblad Citaten (Scopus)

179 Downloads (Pure)
Generalized Dynamical Modeling of 2-D Modular Snake Robots
Classens, K. H. J., Koopaee, M. J. & Weiland, S., 21 mrt. 2019, blz. 161. 1 blz.
Onderzoeksoutput: Bijdrage aan congres › Abstract › Academic

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Citeer dit

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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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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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KW - Global optimization

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

Samenvatting

Duurzame ontwikkelingsdoelstellingen van de VN

Toegang tot document

Andere bestanden en links

Vingerafdruk

Onderzoekersoutput

Dynamical modeling and control of modular snake robots with series elastic actuators for pedal wave locomotion on uneven terrain

Dynamical modelling and control of snake-like motion in vertical plane for locomotion in unstructured environments

Generalized Dynamical Modeling of 2-D Modular Snake Robots

Citeer dit