{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,31]],"date-time":"2025-10-31T16:27:27Z","timestamp":1761928047581,"version":"build-2065373602"},"reference-count":21,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2023,8,23]],"date-time":"2023-08-23T00:00:00Z","timestamp":1692748800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"NSERC Discovery Grant","award":["RGPIN06007-2016","W202360002050016","2021JQR003","2022010802011"],"award-info":[{"award-number":["RGPIN06007-2016","W202360002050016","2021JQR003","2022010802011"]}]},{"name":"Shenzhen Overseas Talent Program","award":["RGPIN06007-2016","W202360002050016","2021JQR003","2022010802011"],"award-info":[{"award-number":["RGPIN06007-2016","W202360002050016","2021JQR003","2022010802011"]}]},{"name":"Industry-University-Research Fund","award":["RGPIN06007-2016","W202360002050016","2021JQR003","2022010802011"],"award-info":[{"award-number":["RGPIN06007-2016","W202360002050016","2021JQR003","2022010802011"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>A resilient robot can recover its original function after partial damage of the system. This paper develops an underactuated resilient robot that utilizes a combination of passive joints, active joints, adjustable links, and passive links. A novel method based on the genetic algorithm was proposed to determine the goal configuration of a partially damaged robot. The novelty of the method lies in the integration of both discrete and continuous variables. This model is illustrated by a 3-DOF robot manipulator in the simulation.<\/jats:p>","DOI":"10.3390\/robotics12050121","type":"journal-article","created":{"date-parts":[[2023,8,23]],"date-time":"2023-08-23T07:25:24Z","timestamp":1692775524000},"page":"121","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Task-Based Configuration Synthesis of an Underactuated Resilient Robot"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3187-1453","authenticated-orcid":false,"given":"Tan","family":"Zhang","sequence":"first","affiliation":[{"name":"College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7295-4837","authenticated-orcid":false,"given":"Dan","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7973-8769","authenticated-orcid":false,"given":"Wenjun","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,8,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Zhang, T., Zhang, D., Gupta, M.M., and Zhang, W.J. 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