Academic Journal
Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design through Kineto-Static Bi-Level Optimization
| العنوان: | Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design through Kineto-Static Bi-Level Optimization |
|---|---|
| المؤلفون: | Hoffman, E. Mingo, Costanzi, Daniel, Fadini, Gabriele, Miguel, Narcis, Prete, A. Del, Marchionni, Luca |
| المساهمون: | Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (LARSEN), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Complex Systems, Artificial Intelligence & Robotics (LORIA - AIS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), PAL Robotics, Swiss Federal Institute of Technology (ETHZ), Gouvernement suisse, ANR-24-CE33-0753,MeRLin,Robots multi-membres pour locomotion et manipulation à corps complet(2024), European Project: 101070165,AGIMUS |
| المصدر: | ISSN: 2377-3766 ; IEEE Robotics and Automation Letters ; https://hal.science/hal-04834665 ; IEEE Robotics and Automation Letters, 2025, pp.1-8. ⟨10.1109/LRA.2025.3530109⟩. |
| بيانات النشر: | CCSD IEEE |
| سنة النشر: | 2025 |
| المجموعة: | Université de Lorraine: HAL |
| مصطلحات موضوعية: | [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC] |
| الوصف: | International audience ; Designing robotic manipulators for generic tasks while meeting specific requirements is a complex, iterative process involving mechanical design, simulation, control, and testing. New computational design tools are needed to simplify and speed up such processes. This work presents an original formulation of the computational design problem, tailored to help design generic manipulators with strong reachability requirements. The primary challenges addressed in this work are twofold. First, the necessity to consider the design of both continuous quantities and discrete components. Second, the ability to guide the design using high-level requirements, like the robot's workspace, without needing a specific manipulation task, unlike other co-design frameworks. These two challenges are addressed by employing a novel kineto-static formulation, resulting in a Mixed Integer Nonlinear Programming problem, which is solved using bi-level optimization. A compelling use case from a real industrial application is presented to highlight the practical effectiveness of the proposed method. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| Relation: | info:eu-repo/grantAgreement//101070165/EU/AGIMUS - Next generation of AI-powered robotics for agile production/AGIMUS |
| DOI: | 10.1109/LRA.2025.3530109 |
| الاتاحة: | https://hal.science/hal-04834665 https://hal.science/hal-04834665v1/document https://hal.science/hal-04834665v1/file/Codesign_Tiago_RAP__PRO___allblack_.pdf https://doi.org/10.1109/LRA.2025.3530109 |
| Rights: | info:eu-repo/semantics/OpenAccess |
| رقم الانضمام: | edsbas.FB0FF762 |
| قاعدة البيانات: | BASE |
| ResultId |
1 |
|---|---|
| Header |
edsbas BASE edsbas.FB0FF762 1057 3 Academic Journal academicJournal 1056.5498046875 |
| PLink |
https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&scope=site&db=edsbas&AN=edsbas.FB0FF762&custid=s6537998&authtype=sso |
| FullText |
Array
(
[Availability] => 0
)
Array ( [0] => Array ( [Url] => https://hal.science/hal-04834665# [Name] => EDS - BASE [Category] => fullText [Text] => View record in BASE [MouseOverText] => View record in BASE ) ) |
| Items |
Array
(
[Name] => Title
[Label] => Title
[Group] => Ti
[Data] => Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design through Kineto-Static Bi-Level Optimization
)
Array ( [Name] => Author [Label] => Authors [Group] => Au [Data] => <searchLink fieldCode="AR" term="%22Hoffman%2C+E%2E+Mingo%22">Hoffman, E. Mingo</searchLink><br /><searchLink fieldCode="AR" term="%22Costanzi%2C+Daniel%22">Costanzi, Daniel</searchLink><br /><searchLink fieldCode="AR" term="%22Fadini%2C+Gabriele%22">Fadini, Gabriele</searchLink><br /><searchLink fieldCode="AR" term="%22Miguel%2C+Narcis%22">Miguel, Narcis</searchLink><br /><searchLink fieldCode="AR" term="%22Prete%2C+A%2E+Del%22">Prete, A. Del</searchLink><br /><searchLink fieldCode="AR" term="%22Marchionni%2C+Luca%22">Marchionni, Luca</searchLink> ) Array ( [Name] => Author [Label] => Contributors [Group] => Au [Data] => Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (LARSEN)<br />Inria Nancy - Grand Est<br />Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Complex Systems, Artificial Intelligence & Robotics (LORIA - AIS)<br />Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA)<br />Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA)<br />Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)<br />PAL Robotics<br />Swiss Federal Institute of Technology (ETHZ)<br />Gouvernement suisse<br />ANR-24-CE33-0753,MeRLin,Robots multi-membres pour locomotion et manipulation à corps complet(2024)<br />European Project: 101070165,AGIMUS ) Array ( [Name] => TitleSource [Label] => Source [Group] => Src [Data] => <i>ISSN: 2377-3766 ; IEEE Robotics and Automation Letters ; https://hal.science/hal-04834665 ; IEEE Robotics and Automation Letters, 2025, pp.1-8. ⟨10.1109/LRA.2025.3530109⟩</i>. ) Array ( [Name] => Publisher [Label] => Publisher Information [Group] => PubInfo [Data] => CCSD<br />IEEE ) Array ( [Name] => DatePubCY [Label] => Publication Year [Group] => Date [Data] => 2025 ) Array ( [Name] => Subset [Label] => Collection [Group] => HoldingsInfo [Data] => Université de Lorraine: HAL ) Array ( [Name] => Subject [Label] => Subject Terms [Group] => Su [Data] => <searchLink fieldCode="DE" term="%22[INFO%2EINFO-RB]Computer+Science+[cs]%2FRobotics+[cs%2ERO]%22">[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]</searchLink><br /><searchLink fieldCode="DE" term="%22[MATH%2EMATH-OC]Mathematics+[math]%2FOptimization+and+Control+[math%2EOC]%22">[MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC]</searchLink> ) Array ( [Name] => Abstract [Label] => Description [Group] => Ab [Data] => International audience ; Designing robotic manipulators for generic tasks while meeting specific requirements is a complex, iterative process involving mechanical design, simulation, control, and testing. New computational design tools are needed to simplify and speed up such processes. This work presents an original formulation of the computational design problem, tailored to help design generic manipulators with strong reachability requirements. The primary challenges addressed in this work are twofold. First, the necessity to consider the design of both continuous quantities and discrete components. Second, the ability to guide the design using high-level requirements, like the robot's workspace, without needing a specific manipulation task, unlike other co-design frameworks. These two challenges are addressed by employing a novel kineto-static formulation, resulting in a Mixed Integer Nonlinear Programming problem, which is solved using bi-level optimization. A compelling use case from a real industrial application is presented to highlight the practical effectiveness of the proposed method. ) Array ( [Name] => TypeDocument [Label] => Document Type [Group] => TypDoc [Data] => article in journal/newspaper ) Array ( [Name] => Language [Label] => Language [Group] => Lang [Data] => English ) Array ( [Name] => NoteTitleSource [Label] => Relation [Group] => SrcInfo [Data] => info:eu-repo/grantAgreement//101070165/EU/AGIMUS - Next generation of AI-powered robotics for agile production/AGIMUS ) Array ( [Name] => DOI [Label] => DOI [Group] => ID [Data] => 10.1109/LRA.2025.3530109 ) Array ( [Name] => URL [Label] => Availability [Group] => URL [Data] => https://hal.science/hal-04834665<br />https://hal.science/hal-04834665v1/document<br />https://hal.science/hal-04834665v1/file/Codesign_Tiago_RAP__PRO___allblack_.pdf<br />https://doi.org/10.1109/LRA.2025.3530109 ) Array ( [Name] => Copyright [Label] => Rights [Group] => Cpyrght [Data] => info:eu-repo/semantics/OpenAccess ) Array ( [Name] => AN [Label] => Accession Number [Group] => ID [Data] => edsbas.FB0FF762 ) |
| RecordInfo |
Array
(
[BibEntity] => Array
(
[Identifiers] => Array
(
[0] => Array
(
[Type] => doi
[Value] => 10.1109/LRA.2025.3530109
)
)
[Languages] => Array
(
[0] => Array
(
[Text] => English
)
)
[Subjects] => Array
(
[0] => Array
(
[SubjectFull] => [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
[Type] => general
)
[1] => Array
(
[SubjectFull] => [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC]
[Type] => general
)
)
[Titles] => Array
(
[0] => Array
(
[TitleFull] => Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design through Kineto-Static Bi-Level Optimization
[Type] => main
)
)
)
[BibRelationships] => Array
(
[HasContributorRelationships] => Array
(
[0] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Hoffman, E. Mingo
)
)
)
[1] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Costanzi, Daniel
)
)
)
[2] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Fadini, Gabriele
)
)
)
[3] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Miguel, Narcis
)
)
)
[4] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Prete, A. Del
)
)
)
[5] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Marchionni, Luca
)
)
)
[6] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (LARSEN)
)
)
)
[7] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Inria Nancy - Grand Est
)
)
)
[8] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Complex Systems, Artificial Intelligence & Robotics (LORIA - AIS)
)
)
)
[9] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA)
)
)
)
[10] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA)
)
)
)
[11] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)
)
)
)
[12] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => PAL Robotics
)
)
)
[13] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Swiss Federal Institute of Technology (ETHZ)
)
)
)
[14] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => Gouvernement suisse
)
)
)
[15] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => ANR-24-CE33-0753,MeRLin,Robots multi-membres pour locomotion et manipulation à corps complet(2024)
)
)
)
[16] => Array
(
[PersonEntity] => Array
(
[Name] => Array
(
[NameFull] => European Project: 101070165,AGIMUS
)
)
)
)
[IsPartOfRelationships] => Array
(
[0] => Array
(
[BibEntity] => Array
(
[Dates] => Array
(
[0] => Array
(
[D] => 01
[M] => 01
[Type] => published
[Y] => 2025
)
)
[Identifiers] => Array
(
[0] => Array
(
[Type] => issn-locals
[Value] => edsbas
)
[1] => Array
(
[Type] => issn-locals
[Value] => edsbas.oa
)
)
[Titles] => Array
(
[0] => Array
(
[TitleFull] => ISSN: 2377-3766 ; IEEE Robotics and Automation Letters ; https://hal.science/hal-04834665 ; IEEE Robotics and Automation Letters, 2025, pp.1-8. ⟨10.1109/LRA.2025.3530109⟩
[Type] => main
)
)
)
)
)
)
)
|
| IllustrationInfo |