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Research on Locomotive Evolution Based on Worm-Shaped Configuration of Self-reconfigurable Robot HitMSR II

  • Yanhe Zhu
  • Xiaolu Wang
  • Xindan Cui
  • Jingchun Yin
  • Jie Zhao
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 99)

Abstract

In this paper, we constructed a three-dimensional dynamic simulator for HitMSR II which is a module self-reconfigurable robot system composed of single-rotational-freedom modules. Downhill Simplex Optimization Algorithm were used to evolve the locomotion of the robot ensuring that it is possible to get access to the relatively more optimized locomotion gaits parameters after large enough numbers of iterative calculations under a certain evaluation function. What’s more. We selected worm-shaped configuration to research on the validation of locomotive evolution both in simulation and experiment.

Keywords

self-reconfigurable robot 3D control simulator worm locomotive evolution Downhill Simplex Algorithm 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Yanhe Zhu
    • 1
  • Xiaolu Wang
    • 1
  • Xindan Cui
    • 1
  • Jingchun Yin
    • 1
  • Jie Zhao
    • 1
  1. 1.State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbinChina

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