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.
Original language | English |
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Article number | 121 |
Journal | Robotics |
Volume | 12 |
Issue number | 5 |
DOIs | |
Publication status | Published - Oct 2023 |
Keywords
- configuration synthesis
- docking system
- optimization
- underactuated resilient robot
ASJC Scopus subject areas
- Mechanical Engineering
- Control and Optimization
- Artificial Intelligence