Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/106199
Title: | Task-based configuration synthesis of an underactuated resilient robot | Authors: | Zhang, T Zhang, D Zhang, WJ |
Issue Date: | Oct-2023 | Source: | Robotics, Oct. 2023, v. 12, no. 5, 121 | Abstract: | A 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. | Keywords: | Underactuated resilient robot Docking system Configuration synthesis Optimization |
Publisher: | Molecular Diversity Preservation International (MDPI) | Journal: | Robotics | EISSN: | 2218-6581 | DOI: | 10.3390/robotics12050121 | 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/). The 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. |
Appears in Collections: | Journal/Magazine Article |
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robotics-12-00121.pdf | 3.52 MB | Adobe PDF | View/Open |
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