Evolutionary controllers for snake robots basic movements

Abstract

A method to generate movements in a snake robot using proportional-integral-derivate controllers (PID) and adjust the constants values to be natural is proposed. Specifically, the method is applied to adjust the movement of a snake robot to natural postures defining a simplify PID controller and adjusting the constants values of the controller. Our approach is based on proportional-integral-derivate controllers, using genetics algorithms to solve the problem. In this paper we explain how adjust the restrictions that must be accomplished for generate a natural movement and make an exhaustive study about snake robots, proportional-integral-derivate controllers and genetics algorithms. © 2007 Springer-Verlag Berlin Heidelberg.