期刊
ROBOTICS
卷 12, 期 5, 页码 -出版社
MDPI
DOI: 10.3390/robotics12050121
关键词
underactuated resilient robot; docking system; configuration synthesis; optimization
类别
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 simulation of a 3-DOF robot manipulator illustrates this model.
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据