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
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