Open AccessAn application of genetic algorithm to optimize the 3-Joint carangiform fish robot’ s links to get the desired straight velocity
Author(s) -
Phu Duc Huynh,
Tuong Quan Vo
Publication year - 2015
Publication title -
khoa học công nghệ
Language(s) - English
Resource type - Journals
ISSN - 1859-0128
DOI - 10.32508/stdj.v18i1.920
Subject(s) - robot , fish locomotion , genetic algorithm , computer science , fish <actinopterygii> , simulation , algorithm , artificial intelligence , biology , fishery , machine learning
Biomimetic robot is a new branch of researched field which is developing quickly in recent years. Some of the popular biomimetic robots are fish robot, snake robot, dog robot, dragonfly robot, etc. Among the biomimetic underwater robots, fish robot and snake robot are mostly concerned. In this paper, we study about an optimization method to find the design parameters of fish robot. First, we analyze the dynamic model of the 3-joint Carangiform fish robot by using Lagrange method. Then the Genetic Algorithm (GA) is used to find the optimal lengths’ values of fish robot’s links. The constraint of this optimization problem is that the values of fish robot’s links are chosen that they can make fish robot swim with the desired straight velocity. Finally, some simulation results are presented to prove the effectiveness of the proposed method