DocumentCode
3115076
Title
Task-based configuration synthesis for modular robot
Author
Gao, Wenbin ; Wang, Hongguang ; Jiang, Yong ; Pan, Xinan
Author_Institution
State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China
fYear
2012
fDate
5-8 Aug. 2012
Firstpage
789
Lastpage
794
Abstract
A modular robot system is introduced in this paper. The requirements for configuration synthesis are analyzed and classified as hard ones, soft ones and hard-soft ones. The evaluation function is constructed based on the weighted sum of the evaluation results of the specified design requirements. A one-lever Genetic Algorithm (GA) basing on an improved hybrid coding method is presented to carry out the configuration synthesis. In addition an example is given to demonstrate the effectiveness of this method.
Keywords
genetic algorithms; manipulators; GA; design requirements; evaluation function; improved hybrid coding method; modular robot system; one-lever genetic algorithm; task-based configuration synthesis; weighted sum; Assembly; Encoding; Grippers; Joints; Manipulators; Topology; Configuration Synthesis; Genetic Algorithm; Modular Robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location
Chengdu
Print_ISBN
978-1-4673-1275-2
Type
conf
DOI
10.1109/ICMA.2012.6283243
Filename
6283243
Link To Document