Mobile robots do not display the level of physical performance one would expect, given the specifications of their hardware. This research is based on the idea that their poor performance is at least partly due to their design, and proposes an optimisation approach for the design of high-performance mobile robots. The aim is to facilitate the design process, and produce versatile and robust robots that can exploit the maximum potential of today's technology. This can be achieved by a systematic optimisation study that is based on careful modelling of the robot's dynamics and its limitations, and takes into consideration the performance requirements that the robot is designed to meet. The approach is divided into two parts: (1) an optimisation framework, and (2) an optimisation methodology. In the framework, designs that can perform a large set of tasks are sought, by simultaneously optimising the design and the behaviours to perform them. The optimisation methodology consists of several stages, where various techniques are used for determining the design's most important parameters, and for maximising the chances of finding the best possible design based on the designer's evaluation criteria. The effectiveness of the optimisation approach is proved via a specific case-study of a high-performance balancing and hopping monopedal robot. The outcome is a robot design and a set of optimal behaviours that can meet several performance requirements of conflicting nature, by pushing the hardware to its limits in a safe way. The findings of this research demonstrate the importance of using realistic models, and taking into consideration the tasks that the robot is meant to perform in the design process.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Mechanism and Behaviour Co-optimisation of High Performance Mobile Robots



    Erscheinungsdatum :

    2021-04-21


    Anmerkungen:

    doi:10.15167/gkikakis-antonios-emmanouil_phd2021-04-21



    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Performance optimisation of mobile robots in dynamic environments

    Zhu, W / Choi, SH | BASE | 2012

    Freier Zugriff

    Performance optimisation of mobile robots in dynamic environments

    Zhu, Wenkai. / 朱文凯. | BASE

    Freier Zugriff

    PIVOTING CHARGING MECHANISM FOR MOBILE ROBOTS

    DEBUSCA DAVID / ALLEN SPENCER W / BERI JOSEPH S et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Optimisation-based verification process of obstacle avoidance systems for unicycle-like mobile robots

    Srikanthakumar, S. / Chen, W. H. | British Library Online Contents | 2011


    Autonomous Real Time Architecture for High Performance Mobile Robots

    Gkikakis, A / Kanoulas, D / Featherstone, R | BASE | 2021

    Freier Zugriff