Engineering Mechanics

Proceedings Vol. 31 (2025)

ENGINEERING MECHANICS 2025

31st INTERNATIONAL CONFERENCE
May 12 – 14, 2025, Medlov, Czech Republic

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Editors: Cyril Fischer and Jiří Náprstek

ISBN 978-80-86246-96-3 (printed)
ISBN 978-80-86246-99-4 (electronic)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

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Simulation-In-The-Loop Optimization of Obstacle-Aided Locomotion in Snake-Like Robots

Shehadeh M. A.
pages 181 - 184, full text

This study investigates the optimization of obstacle-aided locomotion in snake-like robots through a simulation-in-the-loop framework. A dynamic model of the robot is developed in CoppeliaSim to evaluate contact forces interactions during navigation in environments with varying obstacle densities. These interactions are used to optimize the robot’s motion trajectory with minimal actuator energy while penalizing contact forces. The robot’s motion is parametrized by a set of serpentine gait parameters, optimized using Particle Swarm Optimization to exploit beneficial obstacle contacts. Results reveal a trade-off between obstacle utilization and energy efficiency, demonstrating the potential of obstacle-aware trajectory planning for enhanced locomotion performance.

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Ownership of copyright in original research articles remains with the Authors, and provided that, when reproducing parts of the contribution, the Authors acknowledge and/or reference the Proceedings, the Authors do not need to seek permission for re-use of their material.

All papers were reviewed by members of the scientific committee.

Engineering Mechanics

International Conference

Proceedings Vol. 31 (2025)

ENGINEERING MECHANICS 2025