Proposition of twisting mode of locomotion and GA based motion planning for transition of locomotion modes of 3-dimensional snake-like robot
Proposition of twisting mode of locomotion and GA based motion planning for transition of locomotion modes of 3-dimensional snake-like robot
复制标题
三维蛇形机器人扭转运动模式的提出及基于遗传算法的运动规划转换
DOI：
10.1109/robot.2002.1014757
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
R. Chatterjee
中科院分区：
文献类型：
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作者：
T. Kamegawa;F. Matsuno;R. Chatterjee
提出了一种三维超冗余蛇形机器人的运动模式、形状转换路径规划，并设计实现了该机器人。首先介绍了环式、点动式、桥式等多种运动方式，提出了一种新型的“扭转式”运动方式，并从静力学的角度分析了其运动原理。接下来，说明了使用遗传算法进行运动模式转换的运动规划，并显示了遗传算法研究的模拟结果。最后，我们解释了设计的原型系统和实验结果。
We present a type of locomotion mode, path planning of shape transition, and design and implementation of a 3-dimensional hyper-redundant snake-like robot. First we explain the multiple locomotion modes, for example ring mode, inching mode, bridge mode, and so on. We propose a new type of locomotion "twisting mode" and analyze the principle of the locomotion based on statics. Next, the motion planning using genetic algorithm for transition of locomotion modes is explained and simulation results for the GA research is shown. Finally, we explain the designed prototype system and experimental results are shown.