Offline GA-Based optimization for heterogeneous modular multi-configurable chained microrobots

Brunete González, Alberto and Hernando Gutiérrez, Miguel and Gambao Galán, Ernesto (2013). Offline GA-Based optimization for heterogeneous modular multi-configurable chained microrobots. "IEEE/Asme Transactions on Mechatronics", v. 18 (n. 2); pp. 578-585. ISSN 1083-4435. https://doi.org/10.1109/TMECH.2012.2220560.

Description

Title: Offline GA-Based optimization for heterogeneous modular multi-configurable chained microrobots
Author/s:
  • Brunete González, Alberto
  • Hernando Gutiérrez, Miguel
  • Gambao Galán, Ernesto
Item Type: Article
Título de Revista/Publicación: IEEE/Asme Transactions on Mechatronics
Date: April 2013
ISSN: 1083-4435
Volume: 18
Subjects:
Freetext Keywords: Control; Genetic algorithm (GA); Heterogeneous; Modular; Offline; Robot
Faculty: E.U.I.T. Industrial (UPM)
Department: Electrónica, Automática e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (12MB) | Preview

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.

More information

Item ID: 33436
DC Identifier: http://oa.upm.es/33436/
OAI Identifier: oai:oa.upm.es:33436
DOI: 10.1109/TMECH.2012.2220560
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6327367&tag=1
Deposited by: Memoria Investigacion
Deposited on: 29 Jan 2015 10:38
Last Modified: 06 Feb 2015 11:33
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM