Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design

Tomáš Hůlka; Radomil Matoušek; Ladislav Dobrovský; Monika Dosoudilová; Lars Nolle

doi:10.13164/mendel.2020.1.001

Tomáš Hůlka
Radomil Matoušek
Ladislav Dobrovský
Monika Dosoudilová
Lars Nolle

DOI: https://doi.org/10.13164/mendel.2020.1.001

Keywords: Snake-like robot, serpenoid curve, genetic algorithm, physical simulation, PhysX

Abstract

This work investigates the locomotion efficiency of snake-like robots through evolutionary optimization using the simulation framework PhysX (NVIDIA). The Genetic Algorithm (GA) is used to find the optimal forward head serpentine gait parameters, and the snake speed is taken into consideration in the optimization. A fitness function covering robot speed is based on a complex physics simulation in PhysX. A general serpenoid form is applied to each joint. Optimal gait parameters are calculated for a virtual model in a simulation environment. The fitness function evaluation uses the Simulation In the Loop (SIL) technique, where the virtual model is an approximation of a real snake-like robot. Experiments were performed using an 8-link snake robot with a given mass and a different body friction. The aim of the optimization was speed and length of the trace.

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