Abstract
A method to generate movements in a snake robot using proportional-integral-derivate controllers (PID) and adjust the constants values to be natural is proposed. Specifically, the method is applied to adjust the movement of a snake robot to natural postures defining a simplify PID controller and adjusting the constants values of the controller. Our approach is based on proportional-integral-derivate controllers, using genetics algorithms to solve the problem. In this paper we explain how adjust the restrictions that must be accomplished for generate a natural movement and make an exhaustive study about snake robots, proportional-integral-derivate controllers and genetics algorithms.
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Pereda, J.C., de Lope, J., Rodellar, M.V. (2007). Evolutionary Controllers for Snake Robots Basic Movements. In: Corchado, E., Corchado, J.M., Abraham, A. (eds) Innovations in Hybrid Intelligent Systems. Advances in Soft Computing, vol 44. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74972-1_23
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DOI: https://doi.org/10.1007/978-3-540-74972-1_23
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74971-4
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