Smoothing the robot center mass trajectory by genetic selection
DOI:
https://doi.org/10.26577/JMMCS-2019-1-605Keywords:
kinematics of articulated construction, strandbeest by Theo Jansen, Newton's method, genetic algorithm, walking robotAbstract
The paper examines a calculating method for an articulated construction kinematics and application of a genetic algorithm to provide the required trajectory of the specified structure points. First, we describe all types of articulated constructions segments, their mathematical description and construction on their basis of nonlinear equations systems that describing the articulated construction kinematics. The obtained nonlinear systems are solved by repeated application of Newton's method for nonlinear equations. The built algorithm is used to calculate the kinematics of the articulated construction which is a limb model of kinetic sculptures by Theo Jansen. The calculation purpose is optimum parameters selection of a limb which will allow applying it for a robot model with four supporting extremities. We built a reference point trajectory fitness function and constructed the best trajectory which provides rectilinear movement of a robot body relative to the ground by the method of genetic selection. Theoretical calculations are supported by numerical modeling and visualization. There is a graph illustrating the successful application of the developed model at the article end. A real prototype of a stepping robot with four extremities by means of 3D printing of components and subsequent assemblage is created on the basis of theoretical considerations.
References
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[2] Collins S., Ruina A., Tedrake R. and Wisse M. "Efficient bipedal robots based on passive-dynamic walkers" , Science 307(5712) (2005): 1082-1085.
[3] Gorobchev А.S. "Programmnyiy kompleks rascheta dinamiki i kinematiki mashin kak sistem tverdyih i uprugih tel [The program complex of calculation of dynamics and kinematics of machines as systems of firm and elastic bodies]" , Directory. Engineering Journal with Application 9(90) (2004): 40-43.
[4] Moldovan F. and Dolga V. "Analysis of Jansen walking mechanism using CAD" , Solid State Phenomena. Robotics and Automation Systems 166 (2010): 297-302.
[5] Moldovan F., Dolga V., Ciontos O. and Pop C. "Cad design and analytical model of a twelve bar walking mechanism" , University "Politehnica"of Bucharest Scientific Bulletin, Series D: Mechanical Engineering 73(2) (2011): 35-48.
[6] Pavlovskiy V.E. "O razrabotkah shagayuschih mashin [About the developments of walking machines]" , Preprints of the Keldysh Institute of Applied Mathematics RAS 101 (2013): 101-32.
[7] Akzhalova A., Inoue A. and Mukharsky D. "Intelligent Mobile Agents for Disaster Response: survivor search and simple communication support" , Proceedings of International Symposium on Artificial Life and Robotics AROB 19th (2014): 254-259.
[8] Todd D.J. "Walking machines: an introduction to legged robots" , Springer Science and Business Media, 2013, 189.
[9] Gorinevsky D.M. and Shneider A.Yu. "Force control in locomotion of legged vehicles over rigid and soft surfaces" , Int. J. Robot. Res. 9(2) (1990): 4-23.
[10] Chernyishev V.V. "Opyit ispolzovaniya shagayuschey mashinyi dlya likvidatsii avariynogo razliva nefti [Experience in using a stepping machine to eliminate accidental oil spills]" , Life Safety 5 (2003): 28-30.
[11] Chernyshev V.V. and Gavrilov A.E. "Traction properties of walking machines on underwater soils with a low bearing ability" , In Minerals of the Ocean-7 and Deep-Sea Minerals and Mining-4: abstracts of Int. Conf (2014): 21.
[12] Yoo S.Y., Jun B.H. and Shim H. "Design of static gait algorithm for hexapod subsea walking robot: Crabster" , Transactions of the Korean Society of Mechanical Engineers 38(9) (2014): 989-997.
[13] Jun B.H., Shim H., Kim B., Park J.Y., Baek H., Yoo S. and Lee P.M. "Development of seabed walking robot CR200" , In 2013 MTS/IEEE OCEANS-Bergen (2013): 1-5.
[14] Shim H., Yoo S.Y., Kang H. and Jun B.H. "Development of arm and leg for seabed walking robot CRABSTER200" , Ocean Engineering 116 (2016): 55-67.
[15] Digney B.L. and Penzes S. "High utility robotics in urban combat operations" , CLAWAR-Catilian Italy, 2003.
[16] Shanyigin S.V. "Robotyi, kak sredstvo mehanizatsii selskogo hozyaystva [Robots as a means of mechanization of agriculture]" , News of higher educational institutions. Engineering 3 (2013): 39-42.
[17] Briskin E.S., Shurygin V.A., Chernyshev V.V., Maloletov A.V., Sharonov N.G., Kalinin Ya V., Leonard A.V., Serov
V.A., Mironenko K.B. and Ustinov S.A. "Problems of increasing efficiency and experience of walking machines elaborating" , In Advances on Theory and Practice of Robots and Manipulators. Springer (2014): 383-390.
[18] Silva M.F., Machado J.T. and Lopes A.M. "Energy analysis of multi-legged locomotion systems" , In Proc.
CLAWAR’2001–4th International Symposium on Climbing and Walking Robots (2001): 143-150.
[19] Nolfi S., Floreano D. and Floreano D.D. "Evolutionary robotics: The biology, intelligence, and technology of selforganizing machines" , MIT press, 2000, 320.
[20] Weng J. "Developmental robotics: Theory and experiments" , International Journal of Humanoid Robotics 1(02) (2004): 199-236.
[21] Bongard J. "Morphological change in machines accelerates the evolution of robust behavior" , Proceedings of the National Academy of Sciences 108(4) (2011): 1234-1239.
[22] Bongard J.C. "Morphological and environmental scaffolding synergize when evolving robot controllers: artificial life/robotics/evolvable hardware" , In Proceedings of the 13th annual conference on Genetic and evolutionary computation (2011): 179-186.
[23] Bongard J. "Behavior Chaining-Incremental Behavior Integration for Evolutionary Robotics" , In ALIFE (2008): 64-71.
[24] Jansen T. "Strandbeest,"Accessed February 20, 2019, https://www.strandbeest.com.
[25] Wang C.Y. and Hou J.H. "Analysis and Applications of Theo Jansen’s Linkage MechanismTheo Jansen’s Linkage Mechanism on Kinetic Architecture 2018. - Accessed February 20, 2019,
http://papers.cumincad.org/data/works/att/caadria2018_140.pdf.
[26] Mitchell M. "An introduction to genetic algorithms" , MIT press, 1998, 203.
[27] Haupt R.L. and Haupt S.E. "Practical genetic algorithms" , John Wiley and Sons, 2004, 251.
[28] B¨acher M., Coros S. and Thomaszewski B. "LinkEdit: interactive linkage editing using symbolic kinematics" , ACM Transactions on Graphics (TOG) 34(4) (2015): 99.
[29] Komoda K. and Wagatsuma H. "A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function" , In Proceedings of the 7th Annual Dynamic Walking Conference (DWC’12) (2012).
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How to Cite
Akzhalova, A., Mukharsky, D., & Sadu, A. (2019). Smoothing the robot center mass trajectory by genetic selection. Journal of Mathematics, Mechanics and Computer Science, 101(1), 96–114. https://doi.org/10.26577/JMMCS-2019-1-605
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Computer Science
