Parameter optimization of eel robot based on NSGA-II algorithm

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Parameter optimization of eel robot based on NSGA-II algorithm
	Wang MH(王明辉)1 ; Chang J(常健)1 ; Zhang AF(张安翻)3 ; Ma SG(马书根)2 ; Li B(李斌)1
	2019
会议日期	August 8-11, 2019
会议地点	Shenyang, China
关键词	Parameter optimization Gait pattern NSGA-II Eel robot
页码	3-15
英文摘要	In 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.
产权排序	1
会议录	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISSN号	0302-9743
ISBN号	978-3-030-27534-1
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25502]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Zhang AF(张安翻)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.Department of Robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan 3.Faculty of Marine Science and Technology, Hainan Tropical Ocean University, Sanya, China
推荐引用方式 GB/T 7714	Wang MH,Chang J,Zhang AF,et al. Parameter optimization of eel robot based on NSGA-II algorithm[C]. 见:. Shenyang, China. August 8-11, 2019.