Evaluation functions synthesis for optimal design of hyper-redundant robotic systems

Created by W.Langdon from gp-bibliography.bib Revision:1.7615

@Article{Chapelle:2006:MMT,

• author = "Frederic Chapelle and Philippe Bidaud",
• title = "Evaluation functions synthesis for optimal design of hyper-redundant robotic systems",
• journal = "Mechanism and Machine Theory",
• year = "2006",
• volume = "41",
• number = "10",
• pages = "1196--1212",
• month = oct,
• keywords = "genetic algorithms, genetic programming, Mechanical design, Simultaneous structure/control evaluation, Functions synthesis, Hyper-redundant micro-robotics, Minimally invasive surgery",
• DOI = "doi:10.1016/j.mechmachtheory.2005.11.006",
• abstract = "Simultaneous structure/control optimisation in a robotic system design is addressed through Genetic Algorithms. Both aspects are here evolved in the same algorithm through simulations for task oriented evaluations. Moreover, a technique based on Genetic Programming is proposed to generate approximated evaluation functions. Its aim is to significantly speed the design process up, while leading to robust evaluation. A specific adaptation of these principles is investigated for the design of hyper-redundant robotic systems such as smart active endoscopes intended for minimally invasive surgery. The design of these micro-robots is based on a serial arrangement of articulated rings with associated antagonist SMA micro-actuators, whose configuration has to be adapted to the surgical operation constraints. The control strategies for an adaptation of the system geometry to the environment are based on a multi-agent approach to minimise the inter-module communication requirements. The results obtained for the particular application of colonoscopy show the consistency of the solutions.",

}

Genetic Programming entries for Frederic Chapelle Philippe Bidaud

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