Automated Synthesis and Optimization of Robot Configurations (1999)
| Venue: | In Proceedings of the 1998 ASME Design Engineering Technical Conferences |
| Citations: | 15 - 1 self |
BibTeX
@INPROCEEDINGS{Leger99automatedsynthesis,
author = {Chris Leger},
title = {Automated Synthesis and Optimization of Robot Configurations},
booktitle = {In Proceedings of the 1998 ASME Design Engineering Technical Conferences},
year = {1999},
pages = {13--16}
}
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Abstract
Robot configuration design is hampered by the lack of established, well-known design rules, and designers cannot easily grasp the space of possible designs and the impact of all design variables on a robot’s performance. Realistically, a human can only design and evaluate several candidate configurations, though there may be thousands of competitive designs that should be investigated. In contrast, an automated approach to configuration synthesis can create tens of thousands of designs and measure the performance of each one without relying on previous experience or design rules. This thesis creates Darwin2K, an extensible, automated system for robot configuration synthesis. This research focuses on the development of synthesis capabilities required for many robot design problems: a flexible and effective synthesis algorithm, useful simulation capabilities, appropriate representation of robots and their properties, and the ability to accomodate application-specific synthesis needs. Darwin2K can synthesize and optimize kinematics, dynamics, structural geometry, actuator selection, and task and control parameters for a wide range of robots.
