Design of a general resilient robotic system based on axiomatic design theory

Tan Zhang, Dan Zhang, Madan M. Gupta, Wenjun Zhang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

11 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationAIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages71-78
Number of pages8
ISBN (Electronic)9781467391078
DOIs
Publication statusPublished - 25 Aug 2015
Externally publishedYes
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - BEXCO, Busan, Korea, Republic of
Duration: 7 Jul 201511 Jul 2015

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2015-August

Conference

ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Country/TerritoryKorea, Republic of
CityBusan
Period7/07/1511/07/15

ASJC Scopus subject areas

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

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