Performance characterization of an automated system for robot configuration synthesis

Patrick C. Leger

doi:10.1117/12.403741

16 October 2000 Performance characterization of an automated system for robot configuration synthesis

Patrick C. Leger

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403741
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

We describe the results of several experiments aimed at understanding the performance, behavior, and limitations of Darwin2K, an automated system for robot configuration synthesis and optimization. Two design tasks are addressed: the design of a robot for walking along trusses in zero gravity, and of a manipulator for a coverage task. We explore the impact of several factors on synthesizer performance, including the set of robot component and assemblies available to the synthesizer, the set of metrics used to quantify robot performance, and the scope of the task on which robots are assessed. The meaning and impact of the experimental results is given, and we discuss potential improvements in the method of use of Darwin2K as well as future improvements to the system itself.

Citation Download Citation

Patrick C. Leger "Performance characterization of an automated system for robot configuration synthesis", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403741

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