Evolutionary Design of a Robotic Manipulator for a Highly Constrained Environment

Sébastien Rubrecht (1, 2) , Ekta Singla (1) , Vincent Padois (1) , Philippe Bidaud (1, 3) , Michel de Broissia (2)

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 Bouygues Travaux Publics
3 SYROCO - Systèmes robotiques Conception et Commande

This paper presents the design of a manipulator working in a highly constrained workspace. The difficulties implied by the geometry of the environment lead to resort to evolutionary-aided design techniques. As the solution space is likely to be shaped strangely due to the particular environment, a special attention is paid to support the algorithm exploration and avoid negative impacts from the problem formulation, the fitness function or the evaluation. In that respect, a specific genome able to encompass all cases is set up and a constraint compliant control law is used to avoid the arbitrary penalization of robots. The presented results illustrate the methodology adopted to work with the developed evolutionary-aided design tool.

Domaines: Robotique [cs.RO]

Sébastien Rubrecht, Ekta Singla, Vincent Padois, Philippe Bidaud, Michel de Broissia. Evolutionary Design of a Robotic Manipulator for a Highly Constrained Environment. Doncieux, S. and Bredèche, N. and Mouret, J.-B. New Horizons in Evolutionary Robotics, Springer, pp.109-121, 2011, Studies in Computational Intelligence, Volume 341, ⟨10.1007/978-3-642-18272-3_8⟩. ⟨hal-00720425⟩