A fast non-dominated sorting multi-objective symbiotic organism search algorithm for energy efficient locomotion of snake robot

This paper deals with energy efficient locomotion of a wheel-less snake robot. is very crucial for potential applications untethered robots. The optimum gait parameters the robot are obtained two different multi-objective algorithms based on symbiotic organism search algorithm by considering both minimizing average power consumption and maximizing forward velocity also investigates under environment conditions. results demonstrate that proposed methods achieve satisfying stable regarding reduction optimal lateral undulation motion. However, it seen fast non-dominated sorting provides advantage obtaining uniformly distributed solution set good diversity only in single run. important terms presenting useful developing motion environmental adaptability