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Offline GA-based optimisation for heterogeneous modular multi-configurable chained micro-robots

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorBrunete González, Alberto
dc.contributor.authorHernando, Miguel
dc.contributor.authorGambao, Ernesto
dc.date.accessioned2014-04-30T09:08:59Z
dc.date.available2014-04-30T09:08:59Z
dc.date.issued2013-04
dc.description.abstractThis 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.sponsorshipThis 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.extent8
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitationIEEE/ASME transactions on mechatronics, April 2013, Vol. 18, N. 2, pp. 578-585en
dc.identifier.doi10.1109/TMECH.2012.2220560
dc.identifier.issn1083-4435
dc.identifier.publicationfirstpage578
dc.identifier.publicationissue2
dc.identifier.publicationlastpage585
dc.identifier.publicationtitleIEEE/ASME transactions on mechatronicsen
dc.identifier.publicationvolume18
dc.identifier.urihttps://hdl.handle.net/10016/18848
dc.identifier.uxxiAR/0000012889
dc.language.isoeng
dc.publisherIEEE
dc.publisherASME
dc.relation.projectIDComunidad de Madrid. S2009/DPI-1559/ROBOCITY2030 IIes
dc.relation.publisherversionhttp://dx.doi.org/10.1109/TMECH.2012.2220560
dc.rights© 2012 IEEE
dc.rights.accessRightsopen access
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherControlen
dc.subject.otherGenetic algorithm (GA)en
dc.subject.otherHeterogeneousen
dc.subject.otherModularen
dc.subject.otherOfflineen
dc.subject.otherRoboten
dc.titleOffline GA-based optimisation for heterogeneous modular multi-configurable chained micro-robotsen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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