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Dynamics and GA-Based Optimization of Rectilinear Snake Robot

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Intelligent Robotics and Applications (ICIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5928))

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Abstract

The goal of this study is analysis and optimization of rectilinear locomotion gait as one of the snake robot motion modes. An overview of kinematics and detailed dynamics and optimization of torque values are presented in this study. Well-known genetic algorithm scheme will be used in this paper.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Tabriz, P.O. Box 5166616471, Tabriz, Iran

    Ahmad Ghanbari & Mir Masoud Seyyed Fakhrabadi

  2. Center of Exellence for Mechatronics, School of Engineering- Emerging Technologies, University of Tabriz, P.O. Box 5166616471, Tabriz, Iran

    Ahmad Ghanbari & Ali Rostami

  3. Department of Electrical and Computer Engineering, University of Tabriz, P.O. Box 5166616471, Tabriz, Iran

    Ali Rostami

Authors
  1. Ahmad Ghanbari
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  2. Mir Masoud Seyyed Fakhrabadi
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  3. Ali Rostami
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Editor information

Editors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, Singapore

    Ming Xie

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Youlun Xiong

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P.R. China

    Caihua Xiong

  4. Institute of Industrial Research, University of Portsmouth, PO1 3QL, Portsmouth, UK

    Honghai Liu

  5. Department of Computer Science and Electrical Engineering, Kumamoto University, 860-8555, Kumamoto, Japan

    Zhencheng Hu

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© 2009 Springer-Verlag Berlin Heidelberg

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Ghanbari, A., Fakhrabadi, M.M.S., Rostami, A. (2009). Dynamics and GA-Based Optimization of Rectilinear Snake Robot. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_61

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  • DOI: https://doi.org/10.1007/978-3-642-10817-4_61

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-10816-7

  • Online ISBN: 978-3-642-10817-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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