%0 Journal Article %1 Chapelle:2006:MMT %A Chapelle, Frederic %A Bidaud, Philippe %D 2006 %J Mechanism and Machine Theory %K Functions Hyper-redundant Mechanical Minimally Simultaneous algorithms, design, evaluation, genetic invasive micro-robotics, programming, structure/control surgery synthesis, %N 10 %P 1196--1212 %R doi:10.1016/j.mechmachtheory.2005.11.006 %T Evaluation functions synthesis for optimal design of hyper-redundant robotic systems %V 41 %X Simultaneous structure/control optimisation in a robotic system design is addressed through Genetic Algorithms. Both aspects are here evolved in the same algorithm through simulations for task oriented evaluations. Moreover, a technique based on Genetic Programming is proposed to generate approximated evaluation functions. Its aim is to significantly speed the design process up, while leading to robust evaluation. A specific adaptation of these principles is investigated for the design of hyper-redundant robotic systems such as smart active endoscopes intended for minimally invasive surgery. The design of these micro-robots is based on a serial arrangement of articulated rings with associated antagonist SMA micro-actuators, whose configuration has to be adapted to the surgical operation constraints. The control strategies for an adaptation of the system geometry to the environment are based on a multi-agent approach to minimise the inter-module communication requirements. The results obtained for the particular application of colonoscopy show the consistency of the solutions.

@article{Chapelle:2006:MMT, abstract = {Simultaneous structure/control optimisation in a robotic system design is addressed through Genetic Algorithms. Both aspects are here evolved in the same algorithm through simulations for task oriented evaluations. Moreover, a technique based on Genetic Programming is proposed to generate approximated evaluation functions. Its aim is to significantly speed the design process up, while leading to robust evaluation. A specific adaptation of these principles is investigated for the design of hyper-redundant robotic systems such as smart active endoscopes intended for minimally invasive surgery. The design of these micro-robots is based on a serial arrangement of articulated rings with associated antagonist SMA micro-actuators, whose configuration has to be adapted to the surgical operation constraints. The control strategies for an adaptation of the system geometry to the environment are based on a multi-agent approach to minimise the inter-module communication requirements. The results obtained for the particular application of colonoscopy show the consistency of the solutions.}, added-at = {2008-06-19T17:35:00.000+0200}, author = {Chapelle, Frederic and Bidaud, Philippe}, biburl = {https://www.bibsonomy.org/bibtex/264c5084c7ccdc0839e02186833085eb4/brazovayeye}, doi = {doi:10.1016/j.mechmachtheory.2005.11.006}, interhash = {c6a3b37560c1acff3c5a0eeba0c019b6}, intrahash = {64c5084c7ccdc0839e02186833085eb4}, journal = {Mechanism and Machine Theory}, keywords = {Functions Hyper-redundant Mechanical Minimally Simultaneous algorithms, design, evaluation, genetic invasive micro-robotics, programming, structure/control surgery synthesis,}, month = {October}, number = 10, pages = {1196--1212}, timestamp = {2008-06-19T17:37:34.000+0200}, title = {Evaluation functions synthesis for optimal design of hyper-redundant robotic systems}, volume = 41, year = 2006 }