Automatic Design of Task-specific Robotic Arms
arXiv: Robotics(2018)
摘要
We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot arm's end-effector. Given such end-effector trajectories, our system enables on-demand design of custom robot arms using a library of modular and reconfigurable parts such as actuators and connecting links. By searching through the combinatorial set of possible arrangements of these parts, our method generates a functional, as-simple-as-possible robot arm that is capable of tracking the desired trajectories. We demonstrate our system's capabilities by creating robot arm designs in simulation, for various trajectory following scenarios.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要