Parameters optimization of U-Slip Model of Underwater Bionic Robot Based on RNA Genetic Algorithm

In nature, marine cephalopods (such as Mimetic octopus) not only have strong ability of thinking conversion, but also have superior ability of bipedal walking, so the robot adopts the method of octopus bipedal movement. Aiming at the locomotion analysis of the underwater bionic robot, the U-SLIP model is adopted. In order to solve the problem of the difficulty of parameters determination and the walking distance of the underwater bionic robot, a parameter optimization method for U-SLIP model of the underwater bionic robot based on RNA genetic algorithm is proposed. Firstly, the U-SLIP model is built and its dynamic differential equation is solved to get the trajectory of the center of mass. In the process of modeling, through the analysis of the parameters such as buoyancy, resistance, leg extension speed and stiffness coefficient, the gait of the swing phase and the punting phase of the robot is described. Secondly, the appropriate fitness function is designed, and the parameters of U-SLIP model are optimized by RNA genetic algorithm. Finally, the simulation based on MATLAB shows that the optimized model can not only achieve stable walking, but also walk farther in the same time, and the appropriate optimization trajectory is gotten, which the effectiveness of the algorithm for parameters optimization is verified..