Title: Integrating Evolutionary Robotics with 3D Printing for Rapid Fabrication and Deployment of a Physically-Simulated Autonomous Six Articulated-Wheeled Robot

Year of Publication: Nov - 2014
Page Numbers: 184-191
Authors: S. H. Lim , J. Teo
Conference Name: The International Conference on Artificial Intelligence and Pattern Recognition (AIPR2014)
- Malaysia

Abstract:


This paper presented the fabrication of a six articulated-wheeled robot (SAWR) with 3D printing technology. The SAWR is obtained from a evolution process where the morphology of the SAWR is optimized. A single objective evolution algorithm is implemented to optimize the SAWR with a smaller body while having best performance to climb over obstacles without collision. The parts of the evolved SAWR are fabricated with 3D printing technology and mounted with actuators and sensors for real world testing. Results show that the real world SAWR is able to perform climbing motion over a 55mm obstacle. In other word, the real world SAWR is able to perform climbing motion over obstacles with height is 80% from the simulation.