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• W3206016336 abstract "The flexibility and adaptability of modular and re-configurable robots opens up new opportunities for on-demand robot morphology optimization for varying tasks. In particular, multi-arm robotic systems can expand the solution space for any given task. In this paper, we present a novel approach to exploit this feature for generating optimal fit-to-task robot structures with respect to a minimum-effort objective. By describing the task in terms of relative poses between the end-effector and the constraint frame, and making use of the relative Jacobian, the minimum effort optimization problem can be equally expressed for single-arm or multi-arm robots. We test our approach for a peg-in-hole and a contour-following task and compare the performance of the optimal solution obtained with that of a standard manipulator configuration." @default.
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• W3206016336 date "2021-05-30" @default.
• W3206016336 modified "2023-10-04" @default.
• W3206016336 title "Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots" @default.
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• W3206016336 doi "https://doi.org/10.1109/icra48506.2021.9561273" @default.
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