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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)
作者部门空间自动化技术研究室
会议名称2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
会议日期August 5-8, 2012
会议地点Chengdu, China
会议主办者IEEE Robotics and Automation Society; Harbin Institute of Technology; Kagawa University
会议录名称2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
出版者IEEE Computer Society
出版地Washington, DC, United States
2012
页码789-794
收录类别EI
EI收录号20124315597727
产权排序1
ISBN号978-1-4673-1277-6
关键词Genetic Algorithms
摘要A 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. 
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10096
专题空间自动化技术研究室
通讯作者Gao WB(高文斌)
作者单位1.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
推荐引用方式
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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