Optimization in the Design of a Dynamically Efficient Inchworm-like Robot

D.M. Rincón and J.M. Sotelo


Multibody dynamics, optimization, simulation, inchworm, hyper-redundant robots


The intent of this work was to improve the dynamic behaviour of an inchworm-like robot using optimization. The literature includes work in which inchworm locomotion is imitated using different methods in order to grip the surface of the ground, such as pads, magnets, or wheels. The inchworm in this work uses controlled friction only by changing water between the body’s ends. It was imperative to perform an initial experiment without changeable mass and a similar one with changeable mass in order to compare the effectiveness of the robot’s motion with and without water. Optimization theory was then used as a tool to evaluate and improve the dynamic behaviour of the robot.

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