Structural and gait optimization of a hexapod robot with particle swarm optimization

Ervin Burkus, János C. Fodor, Péter Odry

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

The aim of this paper is to introduce a novel method for determining the structure and dimensions of a walking robot using an optimization method. With this solution the parameters of the robot's gait algorithm can also be fine-tuned. Prior to the construction of the authors' latest robot called Szabad(ka) II, a sophisticated modeling was carried out. With the help of this model, the functionality of the robot could be checked before the manufacturing process. Until recently modeling has been used mostly for the verification of the construction, but as the next step it will be used for defining the structure and dimensions. The definition of the optimal parameters can be solved with optimization methods. The Particle Swarm Optimization (PSO) meets the expectations.

Original languageEnglish
Title of host publicationSISY 2013 - IEEE 11th International Symposium on Intelligent Systems and Informatics, Proceedings
Pages147-152
Number of pages6
DOIs
Publication statusPublished - Dec 1 2013
Event2013 IEEE 11th International Symposium on Intelligent Systems and Informatics, SISY 2013 - Subotica, Serbia
Duration: Sep 26 2013Sep 28 2013

Publication series

NameSISY 2013 - IEEE 11th International Symposium on Intelligent Systems and Informatics, Proceedings

Other

Other2013 IEEE 11th International Symposium on Intelligent Systems and Informatics, SISY 2013
CountrySerbia
CitySubotica
Period9/26/139/28/13

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

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  • Cite this

    Burkus, E., Fodor, J. C., & Odry, P. (2013). Structural and gait optimization of a hexapod robot with particle swarm optimization. In SISY 2013 - IEEE 11th International Symposium on Intelligent Systems and Informatics, Proceedings (pp. 147-152). [6662559] (SISY 2013 - IEEE 11th International Symposium on Intelligent Systems and Informatics, Proceedings). https://doi.org/10.1109/SISY.2013.6662559