中文摘要：

为解决可重构模块化机器人在应用时如何找到合适的构型来满足特定任务的问题，提出一种面向任务的可重构模块化机器人构型多目标优化方法．讨论该模块化机器人系统的基本结构，包括主要的模块和控制系统的组成结构；在任务描述的基础上，给出模块化机器人构型设计的优化模型和流程；针对特定的攀爬任务和操作任务，对模块化机器人的构型进行优化设计．仿真验证了该方法的可行性和有效性．该方法具有面向任务和多目标优化等特点，涵盖了自由度、可达性、耗能等多方面的性能优化，适用于模块化机器人的构型设计．

英文摘要：

For solving the problem of finding suitable robot configurations to meet the specific tasks in the application of reconfigurable modular robot, a task-oriented multi-objective configuration optimization method is discussed. At beginning, the basic structure of the modular robot system is introduced, including the main modules and components of the control system. Then, based on the description of the task, an optimization model of modular robot configuration design is represented. Finally, for the specific tasks of climbing and manipulating, the configuration optimal design of modular robot is processed. The feasibility and effectiveness of the method have been well verified by the optimization simulation. The method is task-oriented and multi-objectiVe, and it includes the performance optimization of degrees-of-freedom, reach-ability, energy consumption, and so on.