{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T09:04:47Z","timestamp":1760346287571},"reference-count":32,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2012,11,16]],"date-time":"2012-11-16T00:00:00Z","timestamp":1353024000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2013,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper provides a general framework based on statistical design and Simulated Annealing (SA) optimization techniques for the development, analysis, and performance evaluation of forthcoming snake robot designs. A planar wheeled snake robot is considered, and the effect of its key design parameters on its performance while moving in serpentine locomotion is investigated. The goal is to minimize energy consumption and maximize distance traveled. Key kinematic and dynamic parameters as well as their corresponding range of values are identified. Derived dynamic and kinematic equations of <jats:italic>n<\/jats:italic>-link snake robot are used to perform simulation. Experimental design methodology is used for design characterization. Data are collected as per full factorial design. For both energy consumption and distance traveled, logarithmic, linear, and curvilinear regression models are generated and the best models are selected. Using analysis of variance, ANOVA, effects of parameters on performance of robots are determined. Next, using SA, optimum parameter levels of robots with different number of links to minimize energy consumption and maximize distance traveled are determined. Both single and multi-criteria objectives are considered. Webots and Matlab SimMechanics software are used to validate theoretical results. For the mathematical model and the selected range of values considered, results indicate that the proposed approach is quite effective and efficient in optimization of robot performance. This research extends the present knowledge in this field by identifying additional parameters having significant effect on snake robot performance.<\/jats:p>","DOI":"10.1017\/s0263574712000616","type":"journal-article","created":{"date-parts":[[2012,11,30]],"date-time":"2012-11-30T14:42:08Z","timestamp":1354286528000},"page":"623-641","source":"Crossref","is-referenced-by-count":7,"title":["Application of statistical techniques in modeling and optimization of a snake robot"],"prefix":"10.1017","volume":"31","author":[{"given":"Hadi","family":"Kalani","sequence":"first","affiliation":[]},{"given":"Alireza","family":"Akbarzadeh","sequence":"additional","affiliation":[]},{"given":"Hossein","family":"Bahrami","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2012,11,16]]},"reference":[{"key":"S0263574712000616_ref32","doi-asserted-by":"publisher","DOI":"10.1063\/1.1699114"},{"key":"S0263574712000616_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-75965-4"},{"key":"S0263574712000616_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2006.10.008"},{"key":"S0263574712000616_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/70.478426"},{"key":"S0263574712000616_ref17","first-page":"2026","volume-title":"Proceedings of the 11th ISME Annual (International) Mechanical Engineering Conference","author":"Nakhaee Nejad","year":"2003"},{"key":"S0263574712000616_ref13","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/4\/2\/021001"},{"key":"S0263574712000616_ref12","first-page":"445","article-title":"A hybrid simulated annealing for capacitated vehicle routing problems with the independent route length","volume":"176","author":"Tavakkoli-Moghaddam","year":"2006","journal-title":"Appl. Math. Comput."},{"key":"S0263574712000616_ref10","volume-title":"Proceedings for the Joint Conference of ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)","author":"Kalani","year":"2010"},{"key":"S0263574712000616_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/37.980248"},{"key":"S0263574712000616_ref8","unstructured":"Sh. Hasanzadeh and A. Akbarzadeh , \u201cDevelopment of a new spinning gait for a planar snake robot using central pattern generators,\u201d Intel. Serv. Robot. (Submitted)."},{"key":"S0263574712000616_ref3","volume-title":"Proceedings of the1996 IEEE International Conference on Robotics and Automation","author":"Ostrowski","year":"1996"},{"key":"S0263574712000616_ref2","unstructured":"K. Dowling , \u201cLimbless Locomotion: Learning to Crawl with a Snake Robot,\u201d Ph.D. Thesis (Pittsburgh, PA: Robotics Institute, Carnegie Mellon University, 1997)."},{"key":"S0263574712000616_ref30","unstructured":"Minitab Inc, \u201cMinitab software, revision 16,\u201d Availablev at: http:\/\/www.minitab.com\/en-US\/default.aspx (2011)."},{"key":"S0263574712000616_ref18","volume-title":"Proceedings of the 12th ISME Annual Mechanical Engineering Conference","author":"Nakhaee Nejad","year":"2004"},{"key":"S0263574712000616_ref15","volume-title":"Proceedings of the IEEE RSJ International Conference on Intelligent Robots and Systems","author":"Liljeb\u00e4ck","year":"2010"},{"key":"S0263574712000616_ref5","volume-title":"Proceedings of the 2003 IEEE Changsha International Conference on Robotics, Intelligent Systems and Signal Processing","author":"Shugen","year":"2003"},{"key":"S0263574712000616_ref14","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Nilsson","year":"2004"},{"key":"S0263574712000616_ref4","volume-title":"Proceedings of the 1999 IEEE International Conference on Robotics and Automation","author":"Shugen","year":"1999"},{"key":"S0263574712000616_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2008.05.004"},{"key":"S0263574712000616_ref29","doi-asserted-by":"publisher","DOI":"10.1126\/science.220.4598.671"},{"key":"S0263574712000616_ref11","unstructured":"J. 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Thesis (Tehran, Iran: Applied & Solid Mechanics Division, School of Mechanical Engineering, Sharif University of Technology)."},{"key":"S0263574712000616_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2005.08.017"},{"key":"S0263574712000616_ref22","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Tesch","year":"2011"},{"key":"S0263574712000616_ref26","doi-asserted-by":"publisher","DOI":"10.1016\/0736-5845(91)90003-B"},{"key":"S0263574712000616_ref9","doi-asserted-by":"publisher","DOI":"10.1163\/156855311X617498"},{"key":"S0263574712000616_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-010-9179-y"},{"key":"S0263574712000616_ref21","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0812533106"},{"key":"S0263574712000616_ref1","volume-title":"Biologically Inspired Robots: Snake-Like Locomotors and Manipulators","author":"Hirose","year":"1993"},{"key":"S0263574712000616_ref31","unstructured":"Cyberbotics, Webots Reference Manual, release 6.4.1, available at: www.cyberbotics.com (Aug. 31, 2011)."},{"key":"S0263574712000616_ref19","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709005414"},{"key":"S0263574712000616_ref27","volume-title":"Design for Six Sigma","author":"Yang","year":"2000"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574712000616","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,23]],"date-time":"2019-04-23T21:03:57Z","timestamp":1556053437000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574712000616\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,11,16]]},"references-count":32,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2013,7]]}},"alternative-id":["S0263574712000616"],"URL":"https:\/\/doi.org\/10.1017\/s0263574712000616","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,11,16]]}}}