ID | 65236 |
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Author |
Tamura, Hajime
Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
Kamegawa, Tetsushi
Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
Kaken ID
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Abstract | When a snake robot explores a collapsed house as a rescue robot, it needs to move through various obstacles, some of which may be made of soft materials, such as mattresses. In this study, we call mattress-like environment as a soft floor, which deforms when some force is added to it. We focused on the central pattern generator (CPG) network as a control for the snake robot to propel itself on the soft floor and constructed a CPG network that feeds back contact information between the robot and the floor. A genetic algorithm was used to determine the parameters of the CPG network suitable for the soft floor. To verify the obtained parameters, comparative simulations were conducted using the parameters obtained for the soft and hard floor, and the parameters were confirmed to be appropriate for each environment. By observing the difference in snake robot's propulsion depending on the presence or absence of the tactile sensor feedback signal, we confirmed the effectiveness of the tactile sensor considered in the parameter search.
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Keywords | snake robot
tactile sensor
CPG network
soft floor
genetic algorithm
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Published Date | 2023-03-29
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Publication Title |
Frontiers in Robotics and AI
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Volume | volume10
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Publisher | Frontiers Media
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Start Page | 1138019
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ISSN | 2296-9144
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Content Type |
Journal Article
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language |
English
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OAI-PMH Set |
岡山大学
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Copyright Holders | © 2023 Tamura and Kamegawa.
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File Version | publisher
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Related Url | isVersionOf https://doi.org/10.3389/frobt.2023.1138019
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License | https://creativecommons.org/licenses/by/4.0/
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Citation | Tamura H and Kamegawa T (2023) Parameter search of a CPG network using a genetic algorithm for a snake robot with tactile sensors moving on a soft floor. Front. Robot. AI 10:1138019. doi: 10.3389/frobt.2023.1138019
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Funder Name |
Japan Society for the Promotion of Science
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助成番号 | 20K04380
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