Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots
Edoardo Romiti,Navvab Kashiri,Jörn Malzahn,Nikos Tsagarakis,Edoardo Romiti,Navvab Kashiri,Jörn Malzahn,Nikos Tsagarakis
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-eff...
