Simultaneous Optimization of Robot Structure and Control System Using Evolutionary Algorithm

被引：1
|
作者：
Masanori Sato
Kazuo Ishii
机构：
[1] Kyushu University,
[2] Kyushu Institute of Technology,undefined
来源：
Journal of Bionic Engineering | 2010年 / 7卷
关键词：
simultaneous optimization; evolutionary algorithm; mobile robot; rough terrain;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The simultaneous optimization of a robot structure and control system to realize effective mobility in an outdoor environment is investigated. Recently, various wheeled mechanisms with passive and/or active linkages for outdoor environments have been developed and evaluated. We developed a mobile robot having six active wheels and passive linkage mechanisms, and experimentally verified its maneuverability in an indoor environment. However, there are various obstacles in outdoor environment and the travel ability of a robot thus depends on its mechanical structure and control system.
引用
收藏
页码：S185 / S190
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