Synthesizing Modular Manipulators For Tasks With Time, Obstacle, And Torque Constraints

Understand

Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones.

• The challenge is choosing an appropriate design from a large search space.
• In this work, we describe a framework that automatically synthesizes the design and controls for a serial chain modular manipulator given a task description.
• The task includes points to be reached in the 3D space, time constraints, a load to be sustained at the end-effector, and obstacles to be avoided in the environment.