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题名: The Research of Shape-shifting Robot Skid-turning with Line Configuration
作者: Chang J(常健) ; Li B(李斌) ; Wu CD(吴成东) ; Shang H(尚红)
作者部门: 机器人学研究室
会议名称: 2012 10th World Congress on Intelligent Control and Automation (WCICA)
会议日期: July 6-8, 2012
会议地点: Beijing, China
会议主办者: IEEE Control Systems Society
会议录: Proceedings of the 10th World Congress on Intelligent Control and Automation
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 3800-3804
收录类别: EI
ISBN号: 978-1-4673-1398-8
关键词: Shape-shifting ; Modules ; Robot ; Skid-Turning
摘要: The shape-shifting robot AMOEBA-I has the ability to pass the narrow and small ruins space with the line configuration, but there are many restricts in use due to hard turning and large turning radius. In order to reduce the turning radius and the time of turning and enhance the compatibility of complex environment of robot, this article proposed a method that can make the robot turn more quickly and effectively. Through the establishment of mathematical model, the kinematics and mechanical properties of three modules are analyzed and the evaluation criterion is proposed for the performance of robot turning. At last, the validity and enforceability of the turning is proved by simulations and experiments.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10221
Appears in Collections:机器人学研究室_会议论文

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