TY - GEN
T1 - Design of a general resilient robotic system based on axiomatic design theory
AU - Zhang, Tan
AU - Zhang, Dan
AU - Gupta, Madan M.
AU - Zhang, Wenjun
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/8/25
Y1 - 2015/8/25
N2 - Resilient robotic systems are a kind of robotic system that is able to recover their original function after partial damage of the system. This is achieved by making changes on the partially damaged robot. The general resilient robot, which makes sense by including active joints, passive joints, passive links, and passive adjustable links, was proposed in order to explore its resilience. The axiomatic design theory (ADT) is applied to develop the resilient robot. First, a general architecture of robots was proposed, which is characterized as under-actuated robot. Second, a docking system was developed, which is the key part of incorporating the proposed architecture in the design of the mechanical system of the resilient robot, and this thus enables the realization of the proposed architecture.
AB - Resilient robotic systems are a kind of robotic system that is able to recover their original function after partial damage of the system. This is achieved by making changes on the partially damaged robot. The general resilient robot, which makes sense by including active joints, passive joints, passive links, and passive adjustable links, was proposed in order to explore its resilience. The axiomatic design theory (ADT) is applied to develop the resilient robot. First, a general architecture of robots was proposed, which is characterized as under-actuated robot. Second, a docking system was developed, which is the key part of incorporating the proposed architecture in the design of the mechanical system of the resilient robot, and this thus enables the realization of the proposed architecture.
UR - http://www.scopus.com/inward/record.url?scp=84951160722&partnerID=8YFLogxK
U2 - 10.1109/AIM.2015.7222511
DO - 10.1109/AIM.2015.7222511
M3 - Conference article published in proceeding or book
AN - SCOPUS:84951160722
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 71
EP - 78
BT - AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Y2 - 7 July 2015 through 11 July 2015
ER -