MULTI-OBJECTIVE OPTIMIZATION OF SNAKE ROBOT IN SERPENTINE LOCOMOTION

This paper presents multi-objective optimization for a snake robot with serpentine locomotion. Genetic algorithm (GA) is used to achieve two objectives: minimizing the total travelling time and energy consumption. The effect of initial values winding angle acceleration on consumption average speed depicted. simulation results show periodic pattern joint torques when maintains serpenoid curve during travel. Moreover, Pareto-optimal front was generated optimal solutions both objectives, while weighted sum method selecting best solution. Finally, were verified experimentally an eight-link considering limitations servomotors in experiment. experimental 30° found as optimum that can objectives time. ABSTRAK: Kajian ini berkenaan pelbagai-objektif bagi ular dengan gerakan serpentin. Algoritma genetik diguna mencapai dua objektif iaitu mengurangkan jumlah masa dan guna tenaga. Gambaran kesan awal nilai sudut belitan pecutan pada tenaga purata kelajuan dihasilkan. Dapatan simulasi menunjukkan corak berkala tork sendi yang tetap terhasil semasa berkeadaan lengkung ketika bergerak. Tambahan, berdepan solusi kedua-dua objektif, sementara kaedah berat campuran digunakan menentukan terbaik. Akhirnya, dapatan disahkan secara eksperimen lapan-bahagian menimbangkan kekurangan servomotor dalam eksperimen. adalah gerakan.