文章基本信息

标题：Identificación del campo de trabajo de un robot hexápodo utilizando optimización multiobjetivo
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作者：Josué Domínguez Guerrero ; Roberto Sepúlveda ; Oscar Montiel 等
期刊名称：Computación y Sistemas
印刷版ISSN：1405-5546
出版年度：2017
卷号：21
期号：2
页码：305-314
语种：Spanish
出版社：Instituto Politécnico Nacional
其他摘要：In this paper, an innovative method to find the workspace of a hexapod mobile robot is presented. Differently, to the current state of the art methods that allows to determine the working spaces for walking in straight line, the proposed method allows estimating the optimal set of configurations for walking in any viable direction. The method takes advantage of the existing similitudes between the hexapod and the Delta robot during the tripod walk; however, there are some movement restrictions between them, which were conveniently solved by handling them as a multiobjective optimization problem. Particularly, the MOEA/D algorithm was used to solve the problem.
其他关键词：Hexapod robot; multobjective optimization; delta robot; evolutionary algorithms; gait.