DocumentCode :
81869
Title :
An Improved Algorithm for the Automated Design of Large-Scaled Robot Skin
Author :
Xiangzhi Wei ; Joneja, Ajay ; Kai Tang
Author_Institution :
Dept. of Ind. Eng. & Logistics Manage., Hong Kong Univ. of Sci. & Technol., Hong Kong, China
Volume :
12
Issue :
1
fYear :
2015
fDate :
Jan. 2015
Firstpage :
372
Lastpage :
377
Abstract :
A recent paper titled “On the Problem of the Automated Design of Large-Scaled Robot Skin” (Anghinolfi et al., 2013) published in the IEEE Transactions on Automation Science and Engineering addressed the problem of covering the surface of a humanoid robot with the largest number of nonoverlapping equilateral triangular sensor modules. The problem is eventually approximated by a simpler one: how to find the placement of a given polygon P on an equilateral triangular grid G that contains the largest number of the grid triangles. In this paper, we show how to improve the efficiency of the algorithm presented in that paper. Further, we show that the general problem of filling P with the largest number of disjoint equilateral triangles (all entirely contained in P and all of the same size) is not equivalent to that of finding an optimal placement of P on G. Using this result, we propose an improved heuristic for the original problem of covering the skin of a robot with the largest number of triangular sensor modules.
Keywords :
design; humanoid robots; sensor placement; equilateral triangular sensor modules; humanoid robot; polygon placement; robot skin design; Algorithm design and analysis; Data structures; Educational institutions; Humanoid robots; Robot sensing systems; Skin; Automated design; bin-packing; polygon containment; robot skin;
fLanguage :
English
Journal_Title :
Automation Science and Engineering, IEEE Transactions on
Publisher :
ieee
ISSN :
1545-5955
Type :
jour
DOI :
10.1109/TASE.2014.2331692
Filename :
6849504
Link To Document :
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