Offline GA-based optimisation for heterogeneous modular multi-configurable chained micro-robots Articles uri icon

authors

  • BRUNETE GONZALEZ, ALBERTO
  • HERNANDO, MIGUEL
  • GAMBAO, ERNESTO

publication date

  • April 2013

start page

  • 578

end page

  • 585

issue

  • 2

volume

  • 18

International Standard Serial Number (ISSN)

  • 1083-4435

Electronic International Standard Serial Number (EISSN)

  • 1941-014X

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.

keywords

  • control; genetic algorithm (ga); heterogeneous; modular; offline; robot