Offline GA-Based Optimization for Heterogeneous Modular Multiconfigurable Chained Microrobots

被引：7
|
作者：
Brunete, Alberto [1 ]
Hernando, Miguel [2 ]
Gambao, Ernesto [2 ]
机构：
[1] Univ Carlos III Madrid, Robot Lab, Madrid 28911, Spain
[2] Univ Politecn Madrid, CAR, CSIC, E-28006 Madrid, Spain
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2013年 / 18卷 / 02期
关键词：
Control; genetic algorithm (GA); heterogeneous; modular; offline; robot; LOCOMOTION;
D O I：
10.1109/TMECH.2012.2220560
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a GA-based optimization procedure for bioinspired heterogeneous modular multiconfigurable chained microrobots. When constructing heterogeneous chained modular robots that are composed of several different drive modules, one must select the type and position of the modules that form the chain. One must also develop new locomotion gaits that combine the different drive modules. These are two new features of heterogeneous modular robots that they do not share with homogeneous modular robots. This paper presents an offline control system that allows the development of new configuration schemes and locomotion gaits for these heterogeneous modular multiconfigurable chained microrobots. The offline control system is based on a simulator that is specifically designed for chained modular robots and allows them to develop and learn new locomotion patterns.
引用
收藏
页码：578 / 585
页数：8
相关论文
共 50 条
  • [21] GA-based on-line optimization of CAN message scheduling
    Duzanec, D.
    Stare, Z.
    Kovacic, Z.
    2007 MEDITERRANEAN CONFERENCE ON CONTROL & AUTOMATION, VOLS 1-4, 2007, : 1878 - +
  • [22] Using regression analysis for GA-based ATPG parameter optimization
    Dougherty, WE
    Blanton, RD
    INTERNATIONAL CONFERENCE ON COMPUTER DESIGN: VLSI IN COMPUTERS AND PROCESSORS, PROCEEDINGS, 1998, : 516 - 521
  • [23] GA-based Optimization of Fuzzy Rule Bases for Pattern Classification
    Schaefer, Gerald
    ELEVENTH SYMPOSIUM ON NEURAL NETWORK APPLICATIONS IN ELECTRICAL ENGINEERING (NEUREL 2012), 2012,
  • [24] GA-based parameter optimization for the ALINEA ramp metering control
    Yang, X
    Chu, LY
    Recker, W
    IEEE 5TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, PROCEEDINGS, 2002, : 627 - 632
  • [25] GA-Based motion optimization for overlapped block motion compensation
    Lee, KM
    Kwak, DY
    Kim, EY
    Lee, CW
    Kim, HJ
    COMPUTER APPLICATIONS IN INDUSTRY AND ENGINEERING, 2000, : 357 - 359
  • [26] GA-based selection of components for heterogeneous ensembles of support vector machines
    Coelho, ALV
    Lima, CAM
    Von Zuben, FJ
    CEC: 2003 CONGRESS ON EVOLUTIONARY COMPUTATION, VOLS 1-4, PROCEEDINGS, 2003, : 2238 - 2245
  • [27] Parametric optimization in data mining incorporated with GA-based search
    Tam, L
    Taniar, D
    Smith, K
    COMPUTATIONAL SCIENCE-ICCS 2002, PT I, PROCEEDINGS, 2002, 2329 : 582 - 591
  • [28] Fuzzy AHP GA-Based Optimization Design of SRC Beam
    Zheng, Shansuo
    Li, Zhiqiang
    Hu, Yi
    Tao, Qinglin
    He, Wei
    ADVANCES IN STRUCTURAL ENGINEERING, PTS 1-3, 2011, 94-96 : 174 - 177
  • [29] GA-Based Optimization of SURF Algorithm and Realization Based on Vivado-HLS
    Ozdemir, Huseyin
    Sever, Refik
    Polat, Ovunc
    TRAITEMENT DU SIGNAL, 2019, 36 (05) : 377 - 382
  • [30] Humanoid walking gait optimization using GA-based neural network
    Tang, Z
    Zhou, CJ
    Sun, ZQ
    ADVANCES IN NATURAL COMPUTATION, PT 2, PROCEEDINGS, 2005, 3611 : 252 - 261
12345