Publication detail
Simulation-In-The-Loop Optimization of Obstacle-Aided Locomotion in Snake-Like Robots
SHEHADEH, Mhd Ali
English title
Simulation-In-The-Loop Optimization of Obstacle-Aided Locomotion in Snake-Like Robots
Type
Paper in proceedings (conference paper)
Language
en
Original abstract
his study investigates the optimization of obstacle-aided locomotion in snake-like robots through a simulation-in-the-loop framework. A dynamic model of the robot is developed in CoppeliaSim to evaluate contact forces interactions during navigation in environments with varying obstacle densities. These interac- tions are used to optimize the robot’s motion trajectory with minimal actuator energy while penalizing contact forces. The robot’s motion is parametrized by a set of serpentine gait parameters, optimized using Particle Swarm Optimization to exploit beneficial obstacle contacts. Results reveal a trade-off between obstacle uti- lization and energy efficiency, demonstrating the potential of obstacle-aware trajectory planning for enhanced locomotion performance.
Keywords in English
3D CoppeliaSim, Serpentine Gait, Snake-likeRobot, Obstacle-aided
Released
2025-05-14
Book
31st International Conference ENGINEERING MECHANICS 2025
Pages from–to
181–184
Pages count
4
BIBTEX
@inproceedings{BUT199664,
author="Mhd Ali {Shehadeh} and {}",
title="Simulation-In-The-Loop Optimization of Obstacle-Aided Locomotion in Snake-Like Robots",
booktitle="31st International Conference
ENGINEERING MECHANICS 2025",
year="2025",
journal="Engineering Mechanics ....",
pages="181--184",
doi="10.21495/em2025-181",
issn="1805-8256"
}