@article {18795,
	title = {A Case Study in Optimization of Gait and Physical Parameters for a Snake-Inspired Robot Based on a Rectilinear Gait},
	journal = {Journal of mechanisms and robotics},
	volume = {3},
	year = {2011},
	month = {2011///},
	abstract = {Physical parameters of the constituent modules and gait parameters affect the overall performance of snake-inspired robots. Hence, a system-level optimization model needs to concurrently optimize the module parameters and the gait. Incorporating a physics-based model of rectilinear gaits in the system-level optimization model is a computationally challenging problem. This paper presents a case study to illustrate how metamodels of the precomputed optimal rectilinear gaits can be utilized to reduce the complexity of the system-level optimization model. An example is presented to illustrate the importance of concurrently optimizing the module parameters and the gait to obtain the optimal performance for a given mission.},
	isbn = {1942-4302},
	url = {http://cat.inist.fr/?aModele=afficheN\&cpsidt=23978760},
	author = {Hopkins,James K. and Spranklin,Brent W. and Gupta, Satyandra K.}
}
