Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/106199
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dc.contributorDepartment of Mechanical Engineeringen_US
dc.creatorZhang, Ten_US
dc.creatorZhang, Den_US
dc.creatorZhang, WJen_US
dc.date.accessioned2024-05-03T00:45:44Z-
dc.date.available2024-05-03T00:45:44Z-
dc.identifier.urihttp://hdl.handle.net/10397/106199-
dc.language.isoenen_US
dc.publisherMolecular Diversity Preservation International (MDPI)en_US
dc.rights© 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).en_US
dc.rightsThe following publication Zhang T, Zhang D, Zhang W. Task-Based Configuration Synthesis of an Underactuated Resilient Robot. Robotics. 2023; 12(5):121 is available at https://dx.doi.org/10.3390/robotics12050121.en_US
dc.subjectUnderactuated resilient roboten_US
dc.subjectDocking systemen_US
dc.subjectConfiguration synthesisen_US
dc.subjectOptimizationen_US
dc.titleTask-based configuration synthesis of an underactuated resilient roboten_US
dc.typeJournal/Magazine Articleen_US
dc.identifier.volume12en_US
dc.identifier.issue5en_US
dc.identifier.doi10.3390/robotics12050121en_US
dcterms.abstractA resilient robot can recover its original function after partial damage of the system. This paper develops an underactuated resilient robot that utilizes a combination of passive joints, active joints, adjustable links, and passive links. A novel method based on the genetic algorithm was proposed to determine the goal configuration of a partially damaged robot. The novelty of the method lies in the integration of both discrete and continuous variables. This model is illustrated by a 3-DOF robot manipulator in the simulation.en_US
dcterms.accessRightsopen accessen_US
dcterms.bibliographicCitationRobotics, Oct. 2023, v. 12, no. 5, 121en_US
dcterms.isPartOfRoboticsen_US
dcterms.issued2023-10-
dc.identifier.isiWOS:001095134600001-
dc.identifier.eissn2218-6581en_US
dc.identifier.artn121en_US
dc.description.validate202405 bcrcen_US
dc.description.oaVersion of Recorden_US
dc.identifier.FolderNumberOA_Scopus/WOS-
dc.description.fundingSourceOthersen_US
dc.description.fundingTextNSERC Discovery Grant(Natural Sciences and Engineering Research Council of Canada (NSERC))en_US
dc.description.fundingTextShenzhen Overseas Talent Programen_US
dc.description.fundingTextIndustry-University-Research Funden_US
dc.description.pubStatusPublisheden_US
dc.description.oaCategoryCCen_US
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