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 | ||||||
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Additional Information: | © 1995 IEEE. | ||||||
DOI: | 10.1109/ROBOT.1995.525275 | ||||||
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: | 16 Nov 2021 17:20 |
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