基于贝叶斯优化的鳄鱼仿生两栖机器人步态参数整定

IF 0.8 4区工程技术 Q3 MULTIDISCIPLINARY SCIENCES

Defence Science Journal Pub Date : 2023-08-31 DOI:10.14429/dsj.73.18315

Atul Thakur

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引用次数: 0

摘要

本文报道了一种样本高效贝叶斯优化方法，用于对自主研制的十二自由度鳄鱼型两栖机器人的运动参数进行调整。使用了一个优化框架，其中的目标是通过在具有不同摩擦和倾角的地形以及在游泳运动的水生环境中进行的物理实验获得的平均机器人速度最大化。在15次迭代中，我们使用开发的方法对随机生成的运动参数进行了改进，使机器人的平均速度提高了6.38倍。& # x0D;

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Gait Parameter Tuning Using Bayesian Optimization for an Alligator Inspired Amphibious Robot

This paper reports a sample-efficient Bayesian optimization approach for tuning the locomotion parameters of an in-house developed twelve degrees of freedom alligator-inspired amphibious robot. An optimization framework is used wherein the objective is to maximize the mean robot speed obtained via physical experiments performed on terrains with varying friction and inclinations and in the aquatic environment for swimming locomotion. We obtained an improvement in the mean robot speed by a factor of up to 6.38 using the developed approach over randomly generated locomotion parameters in 15 iterations.

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来源期刊

Defence Science Journal 综合性期刊-综合性期刊

CiteScore

1.80

自引率

11.10%

发文量

审稿时长

7.5 months

期刊介绍： Defence Science Journal is a peer-reviewed, multidisciplinary research journal in the area of defence science and technology. Journal feature recent progresses made in the field of defence/military support system and new findings/breakthroughs, etc. Major subject fields covered include: aeronautics, armaments, combat vehicles and engineering, biomedical sciences, computer sciences, electronics, material sciences, missiles, naval systems, etc.