A Systems-Level Modular Design Approach to Field Robotics (1996)
| Venue: | Proceedings of the 1996 IEEE International Conference on Robotics and Automation |
| Citations: | 7 - 1 self |
BibTeX
@INPROCEEDINGS{Farritor96asystems-level,
author = {Shane Farritor and Steven Dubowsky and Nathan Rutman and Jeffrey Cole},
title = {A Systems-Level Modular Design Approach to Field Robotics},
booktitle = {Proceedings of the 1996 IEEE International Conference on Robotics and Automation},
year = {1996},
pages = {2890--2895}
}
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Abstract
Long development times and high costs prevent robots from being practical for use in many important field missions. Here a modular design approach is proposed to produce a rapidly deployable low cost field robotic system. An inventory of components such as actuated joints, links, power supplies, and software modules are assembled to produce a field robotic system for a specified task. The proposed design method uses a hierarchical selection process combined with a genetic algorithm to select a robot configuration and action plan for a given task. This method is applied to an inspection task required for the preservation of the USS Constitution, an historic naval ship. 1. Introduction Mobile robots are needed to perform important tasks in field environments. Robots could remove humans from dangerous situations such as hazardous material clean-up, nuclear site inspection, bomb disposal, space exploration, and infrastructure inspection. Potentially, robots could prove economical for suc...
