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Genetic Optimization and Simulation of a Piezoelectric Pipe-Crawling Inspection Robot

10 years 3 months ago
Genetic Optimization and Simulation of a Piezoelectric Pipe-Crawling Inspection Robot
- Using the Darwin2k development software, a genetic algorithm (GA) was used to design and optimize a pipecrawling robot for parameters such as mass, power consumption, and joint extension to further the research of the Miniature Inspection Systems Technology (MIST) team. In an attempt to improve on existing designs, a new robot was developed, the piezo robot. The final proposed design uses piezoelectric expansion actuators to move the robot with a ‘chimneying’ method employed by mountain climbers and greatly improves on previous designs in load bearing ability, pipe traversing specifications, and field usability. This research shows the advantages of GA assisted design in the field of robotics.
Geoffrey Hollinger, Jeri Briscoe
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Geoffrey Hollinger, Jeri Briscoe
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