2A1-K02 蠕動運動型ロボットの運動制御 : PSOアルゴリズムを用いた運動パターン生成(バイオロボティクス)

抄録

In this study, we focus on the peristaltic motion that is locomotive pattern of earthworms. To realize effective motion of the peristaltic mobile robot, a dynamical model is introduced and the particle swarm optimization algorithm, one of the meta-heuristic optimization, is applied. The optimized results are investigated by comparing to simple periodic patterns.