Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Offline GA-based optimisation for heterogeneous modular multi-configurable chained micro-robots
Year:2013
Research Areas
  • Electric engineers, electronic and automatic (eil)
Information
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.
International
Si
JCR
Si
Title
Ieee-Asme Transactions on Mechatronics
ISBN
1083-4435
Impact factor JCR
3,135
Impact info
Volume
18
doi: 10.1109/TMECH.2012.2220560
Journal number
From page
578
To page
585
Month
ABRIL
Ranking
1
Participants
  • Autor: Alberto Brunete Gonzalez (UPM)
  • Autor: Miguel Hernando Gutierrez (UPM)
  • Autor: Ernesto Gambao Galan (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Electrónica, Automática e Informática Industrial
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