| contributor author | James K. Hopkins | |
| contributor author | Brent W. Spranklin | |
| contributor author | Satyandra K. Gupta | |
| date accessioned | 2017-05-09T00:46:06Z | |
| date available | 2017-05-09T00:46:06Z | |
| date copyright | February, 2011 | |
| date issued | 2011 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-28007#014503_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/147188 | |
| description abstract | Physical parameters of the constituent modules and gait parameters affect the overall performance of snake-inspired robots. Hence, a system-level optimization model needs to concurrently optimize the module parameters and the gait. Incorporating a physics-based model of rectilinear gaits in the system-level optimization model is a computationally challenging problem. This paper presents a case study to illustrate how metamodels of the precomputed optimal rectilinear gaits can be utilized to reduce the complexity of the system-level optimization model. An example is presented to illustrate the importance of concurrently optimizing the module parameters and the gait to obtain the optimal performance for a given mission. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Case Study in Optimization of Gait and Physical Parameters for a Snake-Inspired Robot Based on a Rectilinear Gait | |
| type | Journal Paper | |
| journal volume | 3 | |
| journal issue | 1 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4003077 | |
| journal fristpage | 14503 | |
| identifier eissn | 1942-4310 | |
| keywords | Robots AND Optimization | |
| tree | Journal of Mechanisms and Robotics:;2011:;volume( 003 ):;issue: 001 | |
| contenttype | Fulltext | |
