Dynamical Modeling and Gait Optimization of a 2-D Modular Snake Robot in a Confined Space. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Classens, K.H.J.; Koopaee, M.A.J.; Pretty, C.; Weiland, S.; Chen, X.
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 9754
• Page End: 9759
• Publication Date: 2020
• Subjects: Dynamic modeling -- Snake robot -- Model-Based control -- Global optimization; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.2648
• Languages: English
• ISSNs: 2405-8963

Abstract

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.