Task-Based Configuration Synthesis of an Underactuated Resilient Robot
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 t...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-08-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/5/121 |
| _version_ | 1797572363205738496 |
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| author | Tan Zhang Dan Zhang Wenjun Zhang |
| author_facet | Tan Zhang Dan Zhang Wenjun Zhang |
| author_sort | Tan Zhang |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-10T20:55:12Z |
| format | Article |
| id | doaj.art-f073137a22f844fda8d66beb249819c7 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T20:55:12Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-f073137a22f844fda8d66beb249819c72023-11-19T18:01:06ZengMDPI AGRobotics2218-65812023-08-0112512110.3390/robotics12050121Task-Based Configuration Synthesis of an Underactuated Resilient RobotTan Zhang0Dan Zhang1Wenjun Zhang2College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaDepartment of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, ChinaDepartment of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, CanadaA 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.https://www.mdpi.com/2218-6581/12/5/121underactuated resilient robotdocking systemconfiguration synthesisoptimization |
| spellingShingle | Tan Zhang Dan Zhang Wenjun Zhang Task-Based Configuration Synthesis of an Underactuated Resilient Robot Robotics underactuated resilient robot docking system configuration synthesis optimization |
| title | Task-Based Configuration Synthesis of an Underactuated Resilient Robot |
| title_full | Task-Based Configuration Synthesis of an Underactuated Resilient Robot |
| title_fullStr | Task-Based Configuration Synthesis of an Underactuated Resilient Robot |
| title_full_unstemmed | Task-Based Configuration Synthesis of an Underactuated Resilient Robot |
| title_short | Task-Based Configuration Synthesis of an Underactuated Resilient Robot |
| title_sort | task based configuration synthesis of an underactuated resilient robot |
| topic | underactuated resilient robot docking system configuration synthesis optimization |
| url | https://www.mdpi.com/2218-6581/12/5/121 |
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