Task-Based Configuration Synthesis of an Underactuated Resilient Robot

Tan Zhang; Dan Zhang; Wenjun Zhang

doi:10.3390/robotics12050121

Task-Based Configuration Synthesis of an Underactuated Resilient Robot

Tan Zhang
, Dan Zhang
, Wenjun Zhang

Research output: Journal article publication › Journal article › Academic research › peer-review

5 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 language	English
Article number	121
Journal	Robotics
Volume	12
Issue number	5
DOIs	https://doi.org/10.3390/robotics12050121
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

More information

10.3390/robotics12050121

Cite this

@article{3a9afba6604e480a86e7d370f429a79f,

title = "Task-Based Configuration Synthesis of an Underactuated Resilient Robot",

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.",

keywords = "configuration synthesis, docking system, optimization, underactuated resilient robot",

author = "Tan Zhang and Dan Zhang and Wenjun Zhang",

note = "Publisher Copyright: {\textcopyright} 2023 by the authors.",

year = "2023",

month = oct,

doi = "10.3390/robotics12050121",

language = "English",

volume = "12",

journal = "Robotics",

issn = "2218-6581",

publisher = "Multidisciplinary Digital Publishing Institute (MDPI)",

number = "5",

}

TY - JOUR

T1 - Task-Based Configuration Synthesis of an Underactuated Resilient Robot

AU - Zhang, Tan

AU - Zhang, Dan

AU - Zhang, Wenjun

PY - 2023/10

Y1 - 2023/10

N2 - 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.

AB - 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.

KW - configuration synthesis

KW - docking system

KW - optimization

KW - underactuated resilient robot

UR - https://www.scopus.com/pages/publications/85174966207

U2 - 10.3390/robotics12050121

DO - 10.3390/robotics12050121

M3 - Journal article

AN - SCOPUS:85174966207

SN - 2218-6581

VL - 12

JO - Robotics

JF - Robotics

IS - 5

M1 - 121

ER -

Task-Based Configuration Synthesis of an Underactuated Resilient Robot

Abstract

Keywords

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this