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Determining task optimal modular robot assembly configurations

Chen, I-Ming and Burdick, Joel W. (1995) Determining task optimal modular robot assembly configurations. In: Proceedings of 1995 IEEE International Conference on Robotics and Automation. Vol.1. IEEE , Piscataway, NJ, pp. 132-137. ISBN 0-7803-1965-6. https://resolver.caltech.edu/CaltechAUTHORS:20190612-143322115

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Abstract

A "modular" robotic system consists of standardized joint and link units that can be assembled into a number of different kinematic configurations. Given a predetermined set of modules, this paper considers the problem of finding an "optimal" module assembly configuration for a specific task. The authors formulate the solution as a discrete optimization procedure. The formulation is based on an assembly incidence matrix representation of a modular robot and a general task-oriented objective function that can incorporate many realistic task criteria. Genetic algorithms (GA) are employed to solve this optimization problem, and a canonical method to represent a modular assembly in terms of genetic strings is introduced. An example involving a 3-DOF manipulator configuration is presented to demonstrate the feasibility of this approach.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1995.525275DOIArticle
Additional Information:© 1995 IEEE.
Record Number:CaltechAUTHORS:20190612-143322115
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190612-143322115
Official Citation:I-Ming Chen and J. W. Burdick, "Determining task optimal modular robot assembly configurations," Proceedings of 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, pp. 132-137 vol.1. doi: 10.1109/ROBOT.1995.525275
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96341
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:13 Jun 2019 14:58
Last Modified:03 Oct 2019 21:21

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