Development of Control for a Serpentine Robot

Author

Hutchison, William R. ; Constantine, Betsy J. ; Borenstein, Johann ; Pratt, Jerry

Author_Institution

Behavior Syst., Boulder

fYear

2007

fDate

20-23 June 2007

Firstpage

149

Lastpage

154

Abstract

This paper describes the development and testing of control of the OmniTread OT-4 robot by the seventh generation (7G) control system. Control of OT-4 was developed in the Yobotics 3D simulator by an iterative process combining genetic algorithm, learning and analytic programming techniques. The control system developed in simulation was tested by controlling the real OT-4 robot in the laboratory. The performance of the real OT-4 robot under 7G control on stairs, parallel bars, a slalom course, and stairs with obstacles corresponded well to the simulated performance on which development of the control system was based.

Keywords

control engineering computing; genetic algorithms; learning (artificial intelligence); mobile robots; robot programming; OmniTread OT-4 robot; analytic programming techniques; control system; genetic algorithm; iterative process; learning techniques; serpentine robot; Algorithm design and analysis; Analytical models; Control system synthesis; Control systems; Genetic algorithms; Laboratories; Parallel robots; Robot control; Robot programming; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2007. CIRA 2007. International Symposium on

Conference_Location

Jacksonville, FI

Print_ISBN

1-4244-0790-7

Electronic_ISBN

1-4244-0790-7

Type

conf

DOI

10.1109/CIRA.2007.382868

Filename

4269868