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Parameter optimization of eel robot based on NSGA-II algorithm
Zhang AF(张安翻)1; Ma SG(马书根)2; Li B(李斌)3; Wang MH(王明辉)3; Chang J(常健)3
Department机器人学研究室
Conference Name12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Conference DateAugust 8-11, 2019
Conference PlaceShenyang, China
Source PublicationIntelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
PublisherSpringer Verlag
Publication PlaceBerlin
2019
Pages3-15
Indexed ByEI
EI Accession number20193307318112
Contribution Rank1
ISSN0302-9743
ISBN978-3-030-27534-1
KeywordParameter optimization Gait pattern NSGA-II Eel robot
AbstractIn order to obtain an efficient gait, this paper studies the swimming efficiency of underwater eel robot in different gaits. The optimal gait parameters combination of three gaits is studied by using Non-dominated Sorting in Genetic algorithm (NSGA-II). The relationship between input power and velocity in different gait patterns is analyzed, and the optimal gait parameters combination in each gait patterns is obtained. The simulation results show that the new gait only need less input power than the serpentine gait in the same velocity, and the new gait has faster velocity compared to the eel gait using the same joint input power. Finally, the above founds have further verified by experiments. The experiments have proved that the new gait has higher swimming efficiency. Besides, It is found that both the optimal gait amplitude and optimal phase shift exist in both the new gait and the serpentine gait.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25502
Collection机器人学研究室
Corresponding AuthorZhang AF(张安翻)
Affiliation1.Faculty of Marine Science and Technology, Hainan Tropical Ocean University, Sanya, China
2.Department of Robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Zhang AF,Ma SG,Li B,et al. Parameter optimization of eel robot based on NSGA-II algorithm[C]. Berlin:Springer Verlag,2019:3-15.
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