Optimal Trajectory Planning For Design of a Crawling Gait in a Robot Using Genetic Algorithm
This paper describes a new locomotion mode to use in a crawling robot, inspired of real inchworm. The crawling device is modelled as a mobile manipulator, and for each step of its motion, the associated dynamics relations are derived using Euler-Lagrange equations. Next, the Genetic Algorithm (GA) i...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2011-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/optimal-trajectory-planning-for-design-of-a-crawling-gait-in-a-robot-using-genetic-algorithm |