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...