Options
Martinez-Villaseñor, Lourdes
Design of a Soft Gripper Using Genetic Algorithms
Modeling and Control Balance Design for a New Bio-inspired Four-Legged Robot
2021
,
Ponce, Hiram
,
Martinez-Villaseñor, Lourdes
,
Mayorga-Acosta, Carlos
In this paper, we present an artificial intelligence-assisted design of a soft robotic gripper. First, we formulate the design of the soft gripper as an optimization problem. Then, we design and configure a genetic algorithm (GA) method to solve the problem under design constraints. Lastly, we implement the whole system in co-simulation between the GA and a computer-aided design software that evaluates the candidate solutions using finite element analysis. A network-attached storage server connecting multiple nodes runs the GA method in parallel, to accelerate the process. After experimentation, we present simulation results to validate our approach. © 2021 Instituto Politécnico Nacional. All rights reserved.
2019
,
Ponce, Hiram
,
Acevedo, Mario
,
Morales, Elizabeth
,
Martinez-Villaseñor, Lourdes
,
Mayorga-Acosta, Carlos
,
Díaz Ramos, Gabriel
Bio-inspired robots have chosen to propose novel developments aiming to inhabit and interact complex and dynamic environments. Bio-inspired four-legged robots, typically inspired on animal locomotion, provide advantages on mobility, obstacle avoidance, energy efficiency and others. Balancing is a major challenge when legged robots require to move over uncertain and sharp terrains. It becomes of particular importance to solve other locomotion tasks such as walking, running or jumping. In this paper, we present a preliminary study on the modeling and control balance design of a bio-inspired four-legged robot for standing on its aligned legs in a straight line. The proposed robot is loosely inspired on the bio-mechanics of the chameleon. Thus, a mathematical modeling, simulation, intelligent control strategy, prototype implementation and preliminary results of control balance in our robot are presented and discussed. © Springer Nature Switzerland AG 2019.