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Task-based configuration synthesis for modular robot
Gao WB(高文斌); Wang HG(王洪光); Jiang Y(姜勇); Pan XA(潘新安)
Department空间自动化技术研究室
Conference Name2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Conference DateAugust 5-8, 2012
Conference PlaceChengdu, China
Author of SourceIEEE Robotics and Automation Society; Harbin Institute of Technology; Kagawa University
Source Publication2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
PublisherIEEE Computer Society
Publication PlaceWashington, DC, United States
2012
Pages789-794
Indexed ByEI
EI Accession number20124315597727
Contribution Rank1
ISBN978-1-4673-1277-6
KeywordGenetic Algorithms
AbstractA modular robot system is introduced in this paper. The requirements for configuration synthesis are analyzed and classified as hard ones, soft ones and hard-soft ones. The evaluation function is constructed based on the weighted sum of the evaluation results of the specified design requirements. A one-lever Genetic Algorithm (GA) basing on an improved hybrid coding method is presented to carry out the configuration synthesis. In addition an example is given to demonstrate the effectiveness of this method. 
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10096
Collection空间自动化技术研究室
Corresponding AuthorGao WB(高文斌)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.Graduate School, Chinese Academy of Sciences, Beijing, 100049, China
Recommended Citation
GB/T 7714
Gao WB,Wang HG,Jiang Y,et al. Task-based configuration synthesis for modular robot[C]//IEEE Robotics and Automation Society; Harbin Institute of Technology; Kagawa University. Washington, DC, United States:IEEE Computer Society,2012:789-794.
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