Dexterity Optimization for Tensegrity Structures Using Local Linear Model Trees

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F21%3A00356557" target="_blank" >RIV/68407700:21220/21:00356557 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ICCMA54375.2021.9646225" target="_blank" >http://dx.doi.org/10.1109/ICCMA54375.2021.9646225</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICCMA54375.2021.9646225" target="_blank" >10.1109/ICCMA54375.2021.9646225</a>

Result language
angličtina
Original language name
Dexterity Optimization for Tensegrity Structures Using Local Linear Model Trees
Original language description
This paper is focused on improving the dexterity (manipulability) of a tensegrity structure with a redundant number of actuators. Fuzzy-logic and neural network method are used to design and improve the dexterity. These methods are used in the Local Linear Model Trees (LOLIMOT) algorithm which is implemented in MATLAB environment. The procedure and improvement of the properties is shown first on a five-bar mechanism. First, a kinematics problem is solved for this mechanism and then LOLIMOT is trained on this model. Finally, the results are applied on the tensegrity structure.
Czech name
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Czech description
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Project
<a href="/en/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronic tensegrities for energy efficient light robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2021 9th International Conference on Control, Mechatronics and Automation, ICCMA 2021
ISBN
978-1-6654-1073-1
ISSN
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e-ISSN
—
Number of pages
4
Pages from-to
46-49
Publisher name
Institute of Electrical and Electronics Engineers
Place of publication
Piscataway
Event location
Luxembourg
Event date
Nov 11, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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