Publication: Offline GA-based optimisation for heterogeneous modular multi-configurable chained micro-robots
dc.affiliation.dpto | UC3M. Departamento de Ingeniería de Sistemas y Automática | es |
dc.affiliation.grupoinv | UC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab) | es |
dc.contributor.author | Brunete González, Alberto | |
dc.contributor.author | Hernando, Miguel | |
dc.contributor.author | Gambao, Ernesto | |
dc.date.accessioned | 2014-04-30T09:08:59Z | |
dc.date.available | 2014-04-30T09:08:59Z | |
dc.date.issued | 2013-04 | |
dc.description.abstract | 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. | en |
dc.description.sponsorship | This work has been supported by the CAM Project S2009/DPI-1559/ROBOCITY2030 II, developed by the research team RoboticsLab at the University Carlos III of Madrid. | en |
dc.format.extent | 8 | |
dc.format.mimetype | application/pdf | |
dc.identifier.bibliographicCitation | IEEE/ASME transactions on mechatronics, April 2013, Vol. 18, N. 2, pp. 578-585 | en |
dc.identifier.doi | 10.1109/TMECH.2012.2220560 | |
dc.identifier.issn | 1083-4435 | |
dc.identifier.publicationfirstpage | 578 | |
dc.identifier.publicationissue | 2 | |
dc.identifier.publicationlastpage | 585 | |
dc.identifier.publicationtitle | IEEE/ASME transactions on mechatronics | en |
dc.identifier.publicationvolume | 18 | |
dc.identifier.uri | https://hdl.handle.net/10016/18848 | |
dc.identifier.uxxi | AR/0000012889 | |
dc.language.iso | eng | |
dc.publisher | IEEE | |
dc.publisher | ASME | |
dc.relation.projectID | Comunidad de Madrid. S2009/DPI-1559/ROBOCITY2030 II | es |
dc.relation.publisherversion | http://dx.doi.org/10.1109/TMECH.2012.2220560 | |
dc.rights | © 2012 IEEE | |
dc.rights.accessRights | open access | |
dc.subject.eciencia | Robótica e Informática Industrial | es |
dc.subject.other | Control | en |
dc.subject.other | Genetic algorithm (GA) | en |
dc.subject.other | Heterogeneous | en |
dc.subject.other | Modular | en |
dc.subject.other | Offline | en |
dc.subject.other | Robot | en |
dc.title | Offline GA-based optimisation for heterogeneous modular multi-configurable chained micro-robots | en |
dc.type | research article | * |
dc.type.hasVersion | AM | * |
dspace.entity.type | Publication |
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