Automated Task-Based Synthesis and Optimization of Field Robots

Patrick (Chris) Leger and John Bares
Proceedings of the 1999 International Conference on Field and Service Robotics (FSR99), 1999.


Download
  • Adobe portable document format (pdf) (137KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
We present Darwin2K, a widely-applicable, extensible software tool for synthesizing and optimizing robot configurations. The system uses an evolutionary optimization algorithm that is independent of task, metrics, and type of robot, enabling the system to address a wide range of synthesis problems. Darwin2K can synthesize fixed-base and mobile robots (including free-flying robots, mobile manipulators, modular robots, and multiple or bifurcated manipulators), and includes a toolkit of simulation and analysis algorithms which are useful for many synthesis tasks. Some of these capabilities, such as dynamic simulation, are novel in automated synthesis of robots. An extensible software architecture enables new synthesis tasks to be addressed while maximizing use of existing system capabilities; this extensibility is a key contribution of the system. A key challenge is effectively optimizing multiple performance metrics; we present a method called Requirement Prioritization that guides the evolutionary algorithm through the design space. We apply Darwin2K to a robot synthesis tasks that includes synthesis of robot kinematics, dynamics, structural geometry, and actuator selection to meet and optimize multiple performance requirements.

Keywords
synthesis, genetic algorithms, dynamic simulation, configuration

Notes

Text Reference
Patrick (Chris) Leger and John Bares, "Automated Task-Based Synthesis and Optimization of Field Robots," Proceedings of the 1999 International Conference on Field and Service Robotics (FSR99), 1999.

BibTeX Reference
@inproceedings{Leger_1999_2649,
   author = "Patrick (Chris) Leger and John Bares",
   title = "Automated Task-Based Synthesis and Optimization of Field Robots",
   booktitle = "Proceedings of the 1999 International Conference on Field and Service Robotics (FSR99)",
   year = "1999",
}