Parameter optimization of eel robot based on NSGA-II algorithm
文献类型：会议论文
| 作者 | Zhang AF(张安翻)1 ; Ma SG(马书根)3; Li B(李斌)2; Wang MH(王明辉)2; Chang J(常健)2
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| 出版日期 | 2019 |
| 会议日期 | August 8-11, 2019 |
| 会议地点 | Shenyang, China |
| 关键词 | Parameter optimization Gait pattern NSGA-II Eel robot |
| 页码 | 3-15 |
| 英文摘要 | In order to obtain an efficient gait, this paper studies the swimming efficiency of underwater eel robot in different gaits. The optimal gait parameters combination of three gaits is studied by using Non-dominated Sorting in Genetic algorithm (NSGA-II). The relationship between input power and velocity in different gait patterns is analyzed, and the optimal gait parameters combination in each gait patterns is obtained. The simulation results show that the new gait only need less input power than the serpentine gait in the same velocity, and the new gait has faster velocity compared to the eel gait using the same joint input power. Finally, the above founds have further verified by experiments. The experiments have proved that the new gait has higher swimming efficiency. Besides, It is found that both the optimal gait amplitude and optimal phase shift exist in both the new gait and the serpentine gait. |
| 产权排序 | 1 |
| 会议录 | Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
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| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-030-27534-1 |
| WOS记录号 | WOS:000569253000001 |
| 源URL | [http://ir.sia.cn/handle/173321/25502]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Zhang AF(张安翻) |
| 作者单位 | 1.Faculty of Marine Science and Technology, Hainan Tropical Ocean University, Sanya, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Department of Robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan |
| 推荐引用方式 GB/T 7714 | Zhang AF,Ma SG,Li B,et al. Parameter optimization of eel robot based on NSGA-II algorithm[C]. 见:. Shenyang, China. August 8-11, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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