Title :
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
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;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location :
Shangshai
Print_ISBN :
978-1-4244-9010-3
DOI :
10.1109/ICMTMA.2011.131
