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
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;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6283243
