Motion generation of peristaltic mobile robot with particle swarm optimization algorithm

被引：0
|
作者：
Homma, Takahiro [1 ]
Kamamichi, Norihiro [1 ]
机构：
[1] Tokyo Denki Univ, Dept Robot & Mechatron, Adachi Ku, Tokyo 101, Japan
来源：
BIOINSPIRATION, BIOMIMETICS, AND BIOREPLICATION 2015 | 2015年 / 9429卷
关键词：
Bio-mimetics; Locomotion; Peristaltic mobile robot; Earthworm; Motion pattern; Optimization; GAIT GENERATION;
D O I：
10.1117/12.2084112
中图分类号：
TB3 [工程材料学]; R318.08 [生物材料学];
学科分类号：
0805 ; 080501 ; 080502 ;
摘要：
In this study, we focus on the peristaltic motion that is locomotive pattern of earthworms. To realize efficient motion of the peristaltic mobile robot, a dynamical model is introduced and the particle swarm optimization algorithm, one of the meta-heuristic optimization, is applied. The optimized results are investigated by comparing to simple periodic patterns.
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页数：8
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