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Generation of Snake Robot Locomotion Patterns Using Genetic Algorithm
표주현(Juhyun Pyo),이명석(Meungsuk Lee),신동관(Dong-Gwan Shin),서갑호(Kap-Ho Seo),조한길(Hangil Joe),서진호(Jin-Ho Suh),김무림(Maolin Jin) Korean Society for Precision Engineering 2021 한국정밀공학회지 Vol.38 No.10
This paper presents a novel method of designing an efficient locomotion pattern generating algorithm for snake robots by a genetic algorithm (GA). In search and rescue operations in disaster areas, a snake robot requires multiple locomotion patterns. To overcome the complexity of snake robot control, we used a central pattern generator (CPG)-based control method which mimics the motion of a biological snake. GA was used to optimize CPG parameters to maximize locomotion performance. The locomotion performance according to the CPG parameters change was analyzed using the snake robot simulator. The proposed locomotion pattern generation algorithm evolved quickly for the target performance and obtained CPG parameters for the desired locomotion.