Dynamics and GA-Based Optimization of Rectilinear Snake Robot

Authors:
Ahmad Ghanbari;Mir Masoud Fakhrabadi;Ali Rostami
Affiliations:
Department of Mechanical Engineering, University of Tabriz, Tabriz, Iran and Center of Exellence for Mechatronics, School of Engineering- Emerging Technologies, University of Tabriz, Tabriz, Iran;Department of Mechanical Engineering, University of Tabriz, Tabriz, Iran;Center of Exellence for Mechatronics, School of Engineering- Emerging Technologies, University of Tabriz, Tabriz, Iran and Department of Electrical and Computer Engineering, University of Tabriz, ...
Venue:
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Year:
2009

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Abstract

The goal of this study is analysis and optimization of rectilinear locomotion gait as one of the snake robot motion modes. An overview of kinematics and detailed dynamics and optimization of torque values are presented in this study. Well-known genetic algorithm scheme will be used in this paper.