Optimal design of modular soft body crawling robot structure based on genetic algorithm
DOI:
https://doi.org/10.54097/hset.v23i.3622Keywords:
Evolutionary Algorithms; Modularity; Soft robot; Crawling Robot.Abstract
This paper explores how a soft robot can be designed and built with a limited material framework to optimize evolutionary iterations to achieve the fastest crawling configuration. The limited framework of the soft robot is based on a modular design, which divides the soft robot into several cubes composed of masses and springs. The morphological self-optimization of the modular soft robot is controlled by set variable parameters combined with an incentive mechanism and an evolutionary algorithm.
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