Abstract
This paper presents the design of a manipulator working in a highly constrained workspace. The difficulties implied by the geometry of the environment lead to resort to evolutionary-aided design techniques. As the solution space is likely to be shaped strangely due to the particular environment, a special attention is paid to support the algorithm exploration and avoid negative impacts from the problem formulation, the fitness function or the evaluation. In that respect, a specific genome able to encompass all cases is set up and a constraint compliant control law is used to avoid the arbitrary penalization of robots. The presented results illustrate the methodology adopted to work with the developed evolutionary-aided design tool.
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Rubrecht, S., Singla, E., Padois, V., Bidaud, P., de Broissia, M. (2011). Evolutionary Design of a Robotic Manipulator for a Highly Constrained Environment. In: Doncieux, S., Bredèche, N., Mouret, JB. (eds) New Horizons in Evolutionary Robotics. Studies in Computational Intelligence, vol 341. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18272-3_8
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DOI: https://doi.org/10.1007/978-3-642-18272-3_8
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