Evaluation functions synthesis for optimal design of hyper-redundant robotic systems
Created by W.Langdon from
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- @Article{Chapelle:2006:MMT,
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author = "Frederic Chapelle and Philippe Bidaud",
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title = "Evaluation functions synthesis for optimal design of
hyper-redundant robotic systems",
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journal = "Mechanism and Machine Theory",
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year = "2006",
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volume = "41",
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number = "10",
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pages = "1196--1212",
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month = oct,
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keywords = "genetic algorithms, genetic programming, Mechanical
design, Simultaneous structure/control evaluation,
Functions synthesis, Hyper-redundant micro-robotics,
Minimally invasive surgery",
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DOI = "doi:10.1016/j.mechmachtheory.2005.11.006",
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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
Citations