Pouya Nourfar

[ 1 ] - Optimal Trajectory Generation for a Robotic Worm via Parameterization by B-Spline Curves

In this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using B-spline curves. The trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. Due to gait design considerations it is desired to minimize the required torques in a cycle of gait. Similar to caterpillars,...