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Dynamical Modeling and Gait Optimization of a 2-D Modular Snake Robot in a Confined Space

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Abstract A model-based optimal gait is obtained for the 2-D locomotion of a modular snake robot in a duct. Optimality is considered in the sense of traveling as fast as… Click to show full abstract

Abstract A model-based optimal gait is obtained for the 2-D locomotion of a modular snake robot in a duct. Optimality is considered in the sense of traveling as fast as possible or traveling with minimal energy consumption. The novelty of the work lies in the development of a framework to cast the full dynamic behavior, including contact constraints with simple objects, into an optimization problem which allows for gait parameter, control parameter and/or physical parameter optimization. Optimal gait and control parameters are found via a surrogate optimization procedure which reveals optimal locomotion strategies depending on the duct width and optimization criteria. The framework is tested and illustrated with a number of optimizations of 2-D locomotion of a snake robot where either traveling time or energy consumption is minimized.

Keywords: snake robot; optimization; gait; modular snake

Journal Title: IFAC-PapersOnLine
Year Published: 2020

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