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Smooth gait optimization of a fish robot using the genetic-hill climbing algorithm

Published online by Cambridge University Press:  14 June 2011

Tuong Quan Vo ,
Hyoung Seok Kim  and
Byung Ryong Lee
Tuong Quan Vo
Affiliation:
School of Mechanical and Automotive Engineering, University of Ulsan, San 29, Mugeo 2-dong, Nam-gu, Ulsan 680-749, South Korea
Hyoung Seok Kim
Affiliation:
School of Mechanical and Automotive Engineering, University of Ulsan, San 29, Mugeo 2-dong, Nam-gu, Ulsan 680-749, South Korea
Byung Ryong Lee*
Affiliation:
School of Mechanical and Automotive Engineering, University of Ulsan, San 29, Mugeo 2-dong, Nam-gu, Ulsan 680-749, South Korea
*
*Corresponding Author: E-mail: brlee@ulsan.ac.kr
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Summary

This paper presents a model of a three-joint (four links) carangiform fish robot. The smooth gait or smooth motion of a fish robot is optimized by using a combination of the Genetic Algorithm (GA) and the Hill Climbing Algorithm (HCA) with respect to its dynamic system. Genetic algorithm is used to create an initial set of optimal parameters for the two input torque functions of the system. This set is then optimized by using HCA to ensure that the final set of optimal parameters is a “near” global optimization result. Finally, the simulation results are presented in order to demonstrate that the proposed method is effective.

Keywords

Fish robotDynamicOptimization, GAHCASmooth gaitInput torqueBig jump
Type
Articles
Information
Robotica , Volume 30 , Issue 2 , March 2012 , pp. 257 - 278
Copyright
Copyright © Cambridge University Press 2011

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