Experimental verification of motion pattern generation for peristaltic mobile robot using numerical optimization method

Tsubasa Sugiyama; Norihiro Kamamichi

doi:10.1117/12.2557986

19 May 2020 Experimental verification of motion pattern generation for peristaltic mobile robot using numerical optimization method

Tsubasa Sugiyama, Norihiro Kamamichi

Author Affiliations +

Proceedings Volume 11374, Bioinspiration, Biomimetics, and Bioreplication X; 113740U (2020) https://doi.org/10.1117/12.2557986
Event: SPIE Smart Structures + Nondestructive Evaluation, 2020, Online Only

Abstract

In this study, we focus on a peristaltic motion that is locomotive pattern of earthworms. Inspired from the peristaltic motion, mobile robots moving in narrow space are able to be constructed. To realize effective motion of the peristaltic mobile robot, motion patterns are generated based on the dynamical model and the particle swarm optimization algorithm, one of the meta-heuristic optimization. The optimized results are investigated by comparing to simple periodic patterns through numerical simulations and experiments.

Citation Download Citation

Tsubasa Sugiyama and Norihiro Kamamichi "Experimental verification of motion pattern generation for peristaltic mobile robot using numerical optimization method", Proc. SPIE 11374, Bioinspiration, Biomimetics, and Bioreplication X, 113740U (19 May 2020); https://doi.org/10.1117/12.2557986

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