NDLI: Using response surfaces and expected improvement to optimize snake robot gait parameters

Content Provider	IEEE Xplore Digital Library
Author	Tesch, Matthew Schneider, Jeff Choset, Howie
Copyright Year	2011
Description	Author affiliation: Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA (Tesch, Matthew; Schneider, Jeff; Choset, Howie)
Abstract	Several categories of optimization problems suffer from expensive objective function evaluation, driving the need for smart selection of subsequent experiments. One such category of problems involves physical robotic systems, which often require significant time, effort, and monetary expenditure in order to run tests. To assist in the selection of the next experiment, there has been a focus on the idea of response surfaces in recent years. These surfaces interpolate the existing data and provide a measure of confidence in their error, serving as a low-fidelity surrogate function that can be used to more intelligently choose the next experiment. In this paper, we robustly implement a previous algorithm based on the response surface methodology with an expected improvement criteria. We apply this technique to optimize open-loop gait parameters for snake robots, and demonstrate improved locomotive capabilities.
Starting Page	1069
Ending Page	1074
File Size	1095269
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6095076
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Response surface methodology Surface treatment Optimization Robot kinematics Noise measurement Noise
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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Using response surfaces and expected improvement to optimize snake robot gait parameters.

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