Configuration synthesis of underactuated resilient robotic systems

Tan Zhang; Changli Liu; Zhiqin Qian; Dan Zhang; Madan M. Gupta; Wenjun Zhang

doi:10.1109/AIM.2014.6878164

Configuration synthesis of underactuated resilient robotic systems

Tan Zhang
, Changli Liu
, Zhiqin Qian
, Dan Zhang
, Madan M. Gupta
, Wenjun Zhang

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

7 Citations (Scopus)

Abstract

A resilient robotic system is capable of recovering the original function after some parts failed. This paper develops a general architecture of resilient robot in terms of physical components and their relationships. This architecture includes active joints and passive joints and adjustable links. The inclusion of passive joints and adjustable link can offer benefit not only on cost, but also on functionality. The architecture determines the configuration variations in terms of discrete variables, i.e., types of modules, assembly pattern of each module and continuous variables, i.e., length of links between two joints and the initial location of the base. The configuration synthesis is formulated as an optimization problem. Energy consumption and resilience is chosen as the objective function. The task-based kinematic and dynamic model is included as the constraints for the underactuated resilient robot that has active joints and passive joints. A genetic algorithm is employed to search for the optimal configuration. This approach is validated by a 3-DOF manipulator.

Original language	English
Title of host publication	AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	721-726
Number of pages	6
ISBN (Print)	9781479957361
DOIs	https://doi.org/10.1109/AIM.2014.6878164
Publication status	Published - 2014
Externally published	Yes
Event	2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France Duration: 8 Jul 2014 → 11 Jul 2014

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference	2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Country/Territory	France
City	Besancon
Period	8/07/14 → 11/07/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications
Electrical and Electronic Engineering

More information

10.1109/AIM.2014.6878164

Cite this

Zhang, T., Liu, C., Qian, Z., Zhang, D., Gupta, M. M., & Zhang, W. (2014). Configuration synthesis of underactuated resilient robotic systems. In AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 721-726). Article 6878164 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2014.6878164

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Zhang, T, Liu, C, Qian, Z, Zhang, D, Gupta, MM & Zhang, W 2014, Configuration synthesis of underactuated resilient robotic systems. in AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 6878164, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Institute of Electrical and Electronics Engineers Inc., pp. 721-726, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014, Besancon, France, 8/07/14. https://doi.org/10.1109/AIM.2014.6878164

Configuration synthesis of underactuated resilient robotic systems. / Zhang, Tan; Liu, Changli; Qian, Zhiqin et al.
AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2014. p. 721-726 6878164 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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Zhang T, Liu C, Qian Z, Zhang D, Gupta MM, Zhang W. Configuration synthesis of underactuated resilient robotic systems. In AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2014. p. 721-726. 6878164. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2014.6878164

Configuration synthesis of underactuated resilient robotic systems

Abstract

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UN SDGs

ASJC Scopus subject areas

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