Task-Based Configuration Synthesis of an Underactuated Resilient Robot

Tan Zhang, Dan Zhang, Wenjun Zhang

Research output: Journal article publicationJournal articleAcademic researchpeer-review

3 Citations (Scopus)

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 languageEnglish
Article number121
JournalRobotics
Volume12
Issue number5
DOIs
Publication statusPublished - Oct 2023

Keywords

  • configuration synthesis
  • docking system
  • optimization
  • underactuated resilient robot

ASJC Scopus subject areas

  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence

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