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

Subject Areas : journal of Artificial Intelligence in Electrical Engineering

Mohammad Reza Sayyed Noorani ¹ ( )
Pouya Nourfar ² ( )

Received: 2016-02-17 Accepted : 2016-02-17 Published : 2015-06-01

Keywords:

References:

[1] G. Li, W. Li, J. Zhang, H. Zhang,(2015). “Analysis and Design of Asymmetric Oscillation for Caterpillar-Like Locomotion,” Journal of Bionic Engineering, vol. 12(2), pp. 190-203.
[2] R.H. Plaut, (2015). “Mathematical Model of Inchworm Locomotion,” International Journal of Non-Linear Mechanics, in press.
[3] J. Lim, H. Park, J. An, Y-S. Hong, B. Kim, B-J. Yi, (2007). “One pneumatic line based inchworm-like micro robot for half-inch pipe inspection,” Mechatronics, vol. 18(7), pp. 315-322.
[4] A. Goldenberg, M. Gryniewski, T. Campbell, (2010). “AARM: A robot arm for internal operations in nuclear reactors,” IEEE Proc. of 1st Int. Conf. on Applied Robotics for the Power Industry, pp. 375-402, Montréal, Canada.
[5] P.R. Vundavilli, D.K. Pratihar, (2011). “Near-optimal gait generations of a two-legged robot on rough terrains using soft computing,” Robotics and Computer-Integrated Manufacturing, vol. 27(3), pp. 521-530.
[6] J. Blair, T. Iwasaki, (2010). “Optimal Gaits for Mechanical Rectifier Systems,” IEEE Trans. on Automatic Control, vol. 56(1), pp. 59-71.
[7] L. Biagiotti, C. Melchiorri, (2013). “Online Trajectory Planning and Filtering for Robotic Applications via B-spline Smoothing Filters,” Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS) , pp. 5668-5673, Tokyo, Japan..
[8] M. Kong, Ch. Ji, Zh.Chen, R. Li, (2013). “Smooth and Near Time-optimal Trajectory Planning of Robotic Manipulator with Smooth Constraint based on Cubic B-spline,” Proc. of the IEEE Int. Conf. on Robotics and Biomimetics, pp. 2328-2333, Shenzhen, China.
[9] J.C. Restrepo, J. Villegas, A. Arias, S. Serna, C. Madrigal, (2012). “Trajectory Generation for a Robotic in a Robocup Test Scenery using Kalman Filter and B-Spline Curves,” XVII Simposio de Tratamiento de Señales, Imágenes Y Visión Artificial, pp. 110-115, Antioquia.
[10] H. Kang, B. An, F.C. Park, (2010). “A Switching Formula for Optimal Gait Transitions,” Proc. of

the IEEE Int. Conf. on Robotics and Biomimetics, pp. 30-35, Tianjin, China.
[11] J.D. Caigny, B. Demeulenaere, J. Swevers, J. D. Schutter, (2007). “Optimal Design of Spline-Based Feedforward for Trajectory Tracking,” IEEE Proc. of the American Control Conference, pp. 4524-4529, New York, USA.
[12] K. Yang, (2013). “An Efficient Spline-based RRT Path Planner for Non-Holonomic Robots in Cluttered Environments,” Proc. of the IEEE Int. Conf. on Unmanned Aircraft Systems , pp. 288-297, Atlanta, GA.
[13] W. Zhang, T. Inanc, S. Ober-Blobaum, J.E. Marsden, (2008). “Optimal Trajectory Generation for a Glider in Time-Varying 2D Ocean Flows B-spline Model,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1083-1088, California, USA.
[14] S.MR.S. Noorani, A. Ghanbari, (2009). “Using PSO for finding the optimal trajectory in minimizing the consumed energy of a crawling robot,” Proc. of 17th ISME Annual Int. Conf. on Mechanical Engineering, Tehran, Iran.
[15] A. Ghanbari, SMRS. Noorani, (2011). “Trajectory Planning in Design of a Crawling Gait for a Modular Robot Using Genetic Algorithm,” Int. J. Advanced Robotic Systems, vol. 8(1), pp. 29-36.
[16] A. Ghanbari, A. Rostami, SMRS. Noorani, MMS. Fakhrabadi, (2008). “Modeling &
Simulation of Inchworm Mode Locomotion,” Lecture Notes in Computer Science, Springer, Berlin, vol. 5314, pp. 617-624.
[17] SMRS. Noorani, A. Ghanbari, (2011). “Explicit Dynamic Formulation for n-R Planar Manipulators with Frictional Interaction between End-effecter and Environment,” Int. J. Advanced Robotic Systems, vol. 8(2), pp. 91-100.