Evaluation functions synthesis for optimal design of hyper-redundant robotic systems

Created by W.Langdon from gp-bibliography.bib Revision:1.4420

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