Browse > Article
http://dx.doi.org/10.5391/JKIIS.2009.19.5.661

Generation of Locomotion for Snake-like Robot using Genetic Algorithm and Analysis for Selections of Partial Modules  

Ahn, Ihn-Seok (위덕대학교 에너지전기공학부)
Jang, Jae-Young (서경대학교 전자공학과)
Seo, Ki-Sung (서경대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.19, no.5, 2009 , pp. 661-666 More about this Journal
Abstract
Modular snake-like robots, which consist of series of modules, are robust for failure and have flexible locomotions for environment. However, they are difficult to control and few efficient and various locomotions are introduced yet. In this paper, GA based phase generation and trajectory generation approaches are implemented and compared for locomotion of snake-like robots and extended for analysis for selections of partial modules. In addition, modeling and simulation environments are implemented in Webots simulator and above GA based experiments for locomotion are executed for KMC snake-like robot.
Keywords
Automatic Locomotion Generation; Genetic Algorithm; Snake-like Robot; Modular Robot; Module Selection;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 K. J. Dowling, Limbless Locomotion:Learning to Crawl with a Snake Robot, in his Ph.D Thesis, Robotics Institute, Carnegie Mellon University 1997
2 Mark W. Sherman, 'Sine-Wave Locomotion in a Robotic Snake Model Form and Programming', In Proceedings of AAAI Mobile Robot Competition: Papers from the AAAI Workshop, pp. 34-40, American Association for Artificial Intelligence, Menlo Park, California, 2002
3 D. E. Goldberg, Genetic Algorithms in Search, Optimization, and Machine Learning, Addison-Wesley, Reading, MA, 1989
4 KMC 코비 매뉴얼, http://www.kmcrobot.com/kr
5 V. Zykov, E. Mytilinaios, M. Desnoyer, H. Lipson, 'Evolved and Designed Self-Reproducing Modular Robotics', IEEE Trans. on Robotics, vol. 23, no. 2, pp. 308-319, 2007   DOI   ScienceOn
6 A. L. Nelson, G. J. Barlow, L. Doitsidis, 'Fitness functions in Evolutionary Robotics: A Survey and Analysis', Robotics and Autonomous Systems, 57, pp 345-370, 2009   DOI   ScienceOn
7 G. S. Hornby, H. Lipson, J. B. Pollack, 'Generative Representations for the Automated Design of Modular Physical Robots', IEEE Trans. on Robotics and Automation, vol. 19, no. 4, pp. 703-719, 2003   DOI   ScienceOn
8 I. Tanev, 'Genetic Programming Incorporation Biased Mutation for Evolution and Adaptation of Snakebot', Genetic Programming and Evolvable Machines, vol. 8, no. 1, pp. 39-59, 2007   DOI   ScienceOn
9 A. Crespi, A. J. Ijspeert, 'AmphiBot II : An Amphious Snake Robot that Crawls and Swims using a Central Pattern Generator', In Proceedings of the 9th International Conference on Climbing and Walking Robots (CLAWAR 2006), pp. 19-27, Brussels, Belgium, September 2006
10 I. Tanev, T. Ray, K. Shimohara, 'On the Analogy in the Emergent Properties of Evolved Locomotion Gaits of Simulated Snakebot', Mobile Robots Toward New Applications, ch.19, pp. 559-578, Germany, December 2006
11 장재영, 현수환, 서기성, '모듈라 뱀형 로봇의 이동 제어에 대한 진화연산 기법 비교', 제어.로봇.시스템학회 논문지, 제15권 제6호 pp. 604-611, 2009. 6
12 L. Hohl, R. Tellez, O. Michel, A. J. Ijspeert, 'Aibo and Webots: Simulation, wireless remote control and controller transfer', Robotics and Autonomous systems, vol. 54, pp. 472-485, 2006   DOI   ScienceOn