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Task-Based Configuration Synthesis of an Underactuated Resilient Robot.
- Source :
- Robotics; Oct2023, Vol. 12 Issue 5, p121, 12p
- Publication Year :
- 2023
-
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. [ABSTRACT FROM AUTHOR]
- Subjects :
- GENETIC algorithms
ROBOTS
Subjects
Details
- Language :
- English
- ISSN :
- 22186581
- Volume :
- 12
- Issue :
- 5
- Database :
- Complementary Index
- Journal :
- Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 173338310
- Full Text :
- https://doi.org/10.3390/robotics12050121