C. J.-J. Paredis, and P.K. Khosla, "Kinematic Design of Serial Link Manipulators from Task Specifications," International Journal of Robotics Research, Vol. 12, no. 3, pp. 274-287,1993.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....such as those seen in robots, will suffice, it is clearly not required. Given the set of tasks that need to be performed, it is necessary to synthesize a linkage that will execute those tasks. By restricting ourselves to serialchain linkages we can formulate the design prob lem in the manner of [15]. By allowing for cabled transmissions in serial chain linkages, we obtain a wider class of solutions for the effector subsystem. There are two important design considerations. First, it is beneficial to keep the number of joints in the system to a minimum. Second, it should be possible to drive ....

C.J.J. Paredis and P.K. Khosla (1993), Kinematic Design of Serial Link Manipulators from Task Specifications, Int'l. Jrnl. of Robotics Research, Vol. 12, No. 3, June, pp. 274-287.

....experiences with navigation algorithms [Lat91] designing self organizing robots, and designing minimalist robot systems [DJR97] We are inspired by [Mu94, Yim93, PCSC] who introduced the first systems capable of selfreconfiguration in the plane. Related work in designing modular robots includes [PK95, PK93, NS96, HS96]. In [PK95] a method for designing various robotic arms with di#erent reachability properties out of the same set of 7 modules is proposed. The mechanical design algorithm is implemented as simulated annealing that starts with a random mechanical design and converges to the design with desired ....

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, Vol. 12, No. 3, pp 274--287, 1993.

....for configuration planning (Section 3.2.2) Finally, we describe our Molecule simulator and our simulation experiments (Section 4) 1.1 Previous Work We are inspired by previous work in modular robotics and in self reconfiguring robots. Related work in designing modular robots includes [PK93, PK95, NS96, HS96]. In [PK95] a method for designing various robotic arms with di#erent reachability properties out of the same set of 7 modules is proposed. The modules get aggregated by hand. NS96, HS96] describe the TETROBOT mod Figure 1: The robotic Molecule. The Molecule is composed of two atoms, connected ....

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, vol. 12, no. 3, pp. 274--287, 1993.

....enabled research thrusts on small mobile robots, and multi sensor multi actuator systems. Applications for groups of small mobile robots accomplishing tasks in unstructured environments and narrow spaces are slowly emerging. Drawing from the earlier research efforts on modular robots (e.g. [3,6,15]) and current research on small mobile robots (e.g, Millibots [7] we propose a modular self reconfigurable group of robots that consists of two modules with different characteristics. A sufficient number of modules combined as a single entity would be capable of self reconfiguring themselves ....

....such a system 2 to be autonomous. Essential properties of our particular system as well as design issues relating to the implementation are given in Section 2. Previous research on modular robotic systems includes serial link manipulators that can be designed according to the task specification [15], design of kinematic structures that can be modularly synthesized [12] and cellular systems as self organizing manipulators [6] These and similar ideas on modularity has been applied to modular structures that are capable of selfreconfiguring into desired shapes. Previous twodimensional systems ....

Paredis, C.J.J., and P.K. Khosla, "Kinematic Design of Serial Link Manipulators from Task Specifications," Intl. Jour. of Robotic Research, Vol. 12, no. 3, pp. 274-287,1993.

....time or linkage integration time, so that we can construct a family of parameterized links. Specifically, our prototypes allow the adjustment of the link twist angle ff and offset angle . Our universal link fits into the context of research on manipulator design from task specifications [27] [26] Previous work has concentrated on large scale reconfigurable robot links [33] but our miniaturized universal link opens up new application areas for task based manipulator design. 4.2 A One legged Rickshaw To test experimentally the feasibility of a direct drive leg, we built a small ....

C. J. Paredis and P. K. Khosla, Kinematic design of serial link manipulators from task specifications, International Journal of Robotics Research, 12 (1993), pp. 274--287.

....advantage of the inherent reconfigurability and rapid deployment potential of modular robot systems by synthesizing an assembly of modules for a specific task. Paredis synthesized fault tolerant manipulators and trajectories from a set of fixed modules using a distributed genetic algorithm (GA) [Paredis96]. Each module was characterized by geometric, inertial, and actuator models, and a continuous kinematic simulation was used to evaluate each manipulator. Number of collisions, task completion, tolerance to single joint failure, and actuator torque capacity were combined into a single objective ....

....In contrast, other distributed approaches have used heterogeneous distributed processes that had limitations to scalability and robustness to failure. The system in [Kim93] used one process per trajectory point, thus tying the number of processes to the number of points in the trajectory, and in [Paredis96] each evaluation process (rather than the central population database) applied a specific genetic operator, so adding or removing processes altered the relative frequency with which different genetic operators were applied. In both of these systems the synthesis algorithms were affected by the ....

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C. Paredis and P. Khosla. Kinematic design of serial link manipulators from task specifications. The International Journal of Robotics Research, 12(3):274--287, June 1993.

....an analysis problem. The synthesis problem was very large investigated problem since the 1970. For very simple cases, an analytical solution may be obtained. But for general 6 dof manipulators , no analytical solution exists. A lot of works attempt to solve this problem numerically [1] 2] 3] [4]. In the last few years a new research paradigm has come into the international scienti c area. The Distributed Arti cial Intelligence and multi agent system has gained major importance as a paradigm for computer scientists. The word agent [5] is used to designate an intelligent entity, acting ....

....fact that at each step of our algorithm, only one parameter is modi ed, the DSM is less optimal than usual numerical algorithms from computation time point of view. Using MIPS (Million Instructions Per Second) ratio, a comparison with last works dealing with the Kinematic Synthesis Problem (KSP)[4], 11] and the Robot Base Placement (RBP) 2] was carried out. The results given on table 6, show that the proposed method is less eOEcient but the computation times taken are not so dioeerent. In another hand, the DSM is a general method able to solve F. B.Ouezdou S. R#gnier Robotica, Volume ....

[Article contains additional citation context not shown here]

C. Paredis and P. Khosla. Kinematic design of serial link manipulators from task speciøcations. International Journal of Robotics Research, 3(12):274287, 1993.

....algorithms search for best solutions with partially random operators. When considering multi objective optimization, progressive or global methods are proposed. Progressive methods try to match iteratively the different successive constraints, to reach sequentially optimized solutions [12][17]. Unfortunately, strongly coupled constraints imply numerous backtrackings, which would slow down the search process. Global methods consist in trying to match simultaneously all constraints while optimizing some criteria [3] 4] This approach is much more complex than the previous one, but it ....

C. Paredis and P. Khosla, "Kinematic Design of Serial Link Manipulators from Task Specifications" International Journal of Robotics Research, Vol. 12, No. 3, pp. 274-287, June 1993.

.... manipulateur ou d un m ecanisme capable d effectuer un ensemble donn e de taches [CHE90] REG96] Des contraintes peuvent etres impos ees soit sur les variables, soit sur des fonctions implicites ou explicites de ces variables (par exemple, les but ees articulaires ou l evitement d obstacles) [PAR93]. La non unicit e de la solution du probl eme de la synth ese g eom etrique, meme dans un environnement contraint, nous am ene a d efinir des performances suppl ementaires que doit avoir le manipulateur. Ces performances peuvent etre de nature g eom etrique, mais aussi de nature cin ematique et ....

C. Paredis et P. Khosla, "Kinematic design of serial link manipulators from task specifications". International Journal of robotics research, vol 3, n 12, 1993, pp. 274--287.

....one rotational degree of freedom per atom about a single inter Molecule connector. The connectors have been implemented with electromagnets. 1.1 Previous Work We are inspired by previous work in modular robotics and in self reconfiguring robots. Related work in designing modular robots includes [PK93, PK95, NS96, HS96]. In [PK95] a method for designing various robotic arms with di#erent reachability properties out of the same set of 7 mod ules is proposed. The modules get aggregated by hand. Related work in self reconfigurable robots includes [FK90, PC 96, CPE96, PEC97, Yim93, Yim94, MKK94, YM 97, MK 98] ....

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, vol. 12, no. 3, pp. 274--287, 1993.

....module can make transitions that allow it to traverse any continuous surface of a configuration. This allows us to use the algorithms of [ChPa] to plan reconfigurations for structures composed of these three dimensional modules. 2 Previous Work Related work in designing modular robots includes [PaKh95, PaKh93, FuKa, ChBu, Yim, NeSa, HaSa]. These papers focus on how to design and build robotic systems out of modules from a small set of component types, and how to reconfigure these systems by changing the ways in which the components are used. self reconfiguring robots are a special kind of modular robot. These robots are capable of ....

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, Vol. 12, No. 3, pp 274--287, 1993.

....one rotational degree of freedom per atom about a single inter Molecule connector. The connectors have been implemented with electromagnets. 1.1 Previous Work We are inspired by previous work in modular robotics and in self reconfiguring robots. Related work in designing modular robots includes [PK93, PK95, NS96, HS96]. In [PK95] a method for designing various robotic arms with different reachability properties out of the same set of 7 mod ules is proposed. The modules get aggregated by hand. Related work in self reconfigurable robots includes [FK90, PC 96, CPE96, PEC97, Yim93, Yim94, MKK94, YM 97, MK 98] ....

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, vol. 12, no. 3, pp. 274--287, 1993.

....that implement the locomotion gaits. Finally, we discuss our experiments. 2 Related work Our work draws on previous experiences with navigation algorithms [Lat91] designing self organizing robots, and designing minimalist robot systems [DJR96] Related work in designing modular robots includes [PK95, PK93, NS96, HS96]. In [PK95] a method for designing various robotic arms with different reachability properties out of the same set of 7 modules is proposed. The mechanical design algorithm is implemented as simulated annealing that starts with a random mechanical design and converges to the design with desired ....

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, Vol. 12, No. 3, pp 274--287, 1993.

....This graph can be used to extract a motion plan in the Molecule control space. 2 Related work Our work draws on previous experiences with navigation algorithms [10] designing self organizing robots, and designing minimalist robot systems [4] Related work in designing modular robots includes [15, 16, 13, 6]. In [15] a method for designing various robotic arms with different reachability properties out of the same set of 7 modules is proposed. The mechanical design algorithm is implemented as simulated annealing that starts with a random mechanical design and converges to the design with desired ....

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, Vol. 12, No. 3, pp 274--287, 1993.

....in each of these cases. 2 Related work Our work draws on previous experiences with navigation algorithms [Lat91] designing self organizing robots, designing biologically inspired robots, and designing minimalist robot systems [DJR96, DJR94a] Related work in designing modular robots includes [PK95, PK93, NS96, HS96]. In [PK95] a method for designing various robotic arms with different reachability properties out of the same set of 7 modules is proposed. The mechanical design algorithm is implemented as simulated annealing that starts with a random mechanical design and converges to the design with desired ....

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, Vol. 12, No. 3, pp 274--287, 1993.

....several Inchworms can attach themselves to a platform and carry tools and power supplies to the base of a complicated bridge or tower. At this point, the Inchworms can detach and distributively inspect the structure by climbing. 2. Related Work Related work in designing modular robots includes [PK95, PK93, NS96, HS96]. In [PK95] a method for designing various robotic arms with different reachability properties out of the same set of 7 modules is proposed. The mechanical design algorithm is implemented as simulated annealing that starts with a random mechanical design and converges to the design with desired ....

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, Vol. 12, No. 3, pp 274--287, 1993.

....structures. 2 Related work Our work draws on previous experiences with navigation algorithms [ Latombe 1991 ] designing self reconfiguring robots, and designing minimalist robot systems [ Donald et al., 1997a ] Related work in designing modular robots includes [ Paredis and Khosla, 1995; Paredis and Khosla, 1993; Neville and Sanderson, 1996; Hamlin and Sanderson, Figure 1: The current Robotic Molecule. The Molecule is composed of two atoms, connected by an right angle rigid bond. The Molecule has 4 degrees of freedom: two rotational degrees of freedom about the bond and one rotational degree of freedom ....

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, Vol. 12, No. 3, pp 274--287, 1993.

....and four reorientation protocols that require di#erent amount of communication and sensing. Our previous mobile sensing work [ Rus et al., 1996 ] describes our box manipulation system using mover and scout robots. Related work in designing modular robots includes [ Paredis and Khosla, 1995; Paredis and Khosla, 1993; Neville and Sanderson, 1996; Hamlin and Sanderson, 1996 ] In [ Paredis and Khosla, 1995 ] a method for designing various robotic arms with di#erent reachability properties out of the same set of 7 modules is proposed. The mechanical design algorithm is implemented as simulated annealing that ....

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, Vol. 12, No. 3, pp 274--287, 1993.

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C. J.-J. Paredis, and P.K. Khosla, "Kinematic Design of Serial Link Manipulators from Task Specifications," International Journal of Robotics Research, Vol. 12, no. 3, pp. 274-287,1993.

No context found.

C.J.J. Paredis, P.K. Khosla, "Kinematic Design of Serial Link Manipulators from Task Specifications," The International Journal of Robotics Research, Vol. 12, No. 3, pp. 274--287, June 1993.

....related to the design and implementation of such systems are analyzed in the field of self reconfigurable robotics. Various applications analyzing the capabilities of self reconfigurable robotic systems are reported in the literature. Early studies on this topic report manual configuration [1], a modularly synthesized kinematics structure called Tetrabot [2] and cellular mobile robots with reconfiguration capability [3] Later studies have reported examples in 2D such as metamorphing hexagonal modules [4] self repairing machines [5] the Cristalline robot [6] which moves in a ....

C. J.-J. Paredis and P. K. Khosla, "Kinematic Design of Serial Link Manipulators from Task Specifications," Int. J. of Robotics Research, v.12, no.3, pp.274-287, 1993.

....formation. There are several approaches to design and implementation of modular robotic systems. Early examples included manually configured manipulator or mobile systems with homogeneous or heterogeneous modules. Manipulators that can be designed according to task specification called RMMS [2], modularly synthesized kinematics structure family of Tetrabots [3] and CEBOT cellular system as self organizing manipulators [4] have been proposed and realized. Recently, several prototypes of modular self reconfigurable systems have been implemented by various researchers. Existing 2 D ....

C. J.-J. Paredis, and P.K. Khosla, "Kinematic Design of Serial Link Manipulators from Task Specifications," International Journal of Robotics Research, Vol. 12, no. 3, pp. 274-287,1993.

....parameters. The approach we propose in this paper differs from the methods listed above, because we are specifically interested in modular manipulators. The interest in modular manipulators has grown steadily over the last decade [6, 24] and several related research issues have been addressed [2, 3, 7, 10, 14, 18]. However, the problem of determining the modular configuration optimally suited for one specific task, has never been addressed before to the best of our knowledge. In this paper, we investigate modular design from kinematic task requirements. These requirements affect only the kinematic ....

C. J. J. Paredis and P. K. Khosla. Kinematic design of serial link manipulators from task specifications. The International Journal of Robotics Research, 12(3):274--287, June 1993.

No context found.

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, vol. 12, no. 3, pp. 274--287, 1993.

No context found.

C. Paredis and P. Khosla, Kinematic Design of Serial Link Manipulators from Task Specifications, in International Journal of Robotic Research, Vol. 12, No. 3, pp. 274287, 1993.

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