Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)(2021)
摘要
The flexibility and adaptability of modular and reconfigurable robots opens up new opportunities for on-demand robot morphology optimization for varying tasks. In particular, multi-arm robotic systems can expand the solution space for any given task. In this paper, we present a novel approach to exploit this feature for generating optimal fit-to-task robot structures with respect to a minimum-effort objective. By describing the task in terms of relative poses between the end-effector and the constraint frame, and making use of the relative Jacobian, the minimum effort optimization problem can be equally expressed for single-arm or multi-arm robots. We test our approach for a peg-in-hole and a contour-following task and compare the performance of the optimal solution obtained with that of a standard manipulator configuration.
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关键词
on-demand robot morphology optimization,reconfigurable robots,modular reconfigurable,minimum-effort task-based design optimization,optimal solution,multiarm robots,single-arm,minimum effort optimization problem,minimum-effort objective,optimal fit-to-task robot structures,solution space,multiarm robotic systems,varying tasks
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