Application in the Motion Planning of Underactuated Hexapod Robot Based on Genetic

Author

Li Hong ; Wenwen, Xiao

Author_Institution

Beijing Inf. Sci. & Technol. Univ., Beijing, China

Volume

1

fYear

2011

fDate

6-7 Jan. 2011

Firstpage

515

Lastpage

518

Abstract

Underactuated system is a nonholonomic system that has less than the system degrees of freedom controller, light weight, low cost, energy consumption and many other advantages. This under actuated hexapod bio-robot-RR Robot, the objective is minimizing the energy loss, the use of genetic algorithms and particle swarm optimization RR Robot trajectory planning, simulation results show two algorithms to solve the optimization problem RR Robot trajectory is effective, especially PSO few more iterations, less energy consumption and computation advantages.

Keywords

biocontrol; genetic algorithms; legged locomotion; motion control; nonlinear control systems; particle swarm optimisation; path planning; position control; RR robot trajectory planning; energy consumption; genetic algorithms; motion planning; nonholonomic system; particle swarm optimization; underactuated hexapod biorobot; underactuated system; Equations; Leg; Mathematical model; Optimization; Particle swarm optimization; Planning; Robots; Genetic Algorithms; Motion Planning; Optimize; Particle Swarm Optimization; Underactuated Hexapod Bio-Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on

Conference_Location

Shangshai

Print_ISBN

978-1-4244-9010-3

Type

conf

DOI

10.1109/ICMTMA.2011.131

Filename

5720834