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The Research of Shape-shifting Robot Skid-turning with Line Configuration
Chang J(常健); Li B(李斌); Wu CD(吴成东); Shang H(尚红)
Department机器人学研究室
Conference Name2012 10th World Congress on Intelligent Control and Automation (WCICA)
Conference DateJuly 6-8, 2012
Conference PlaceBeijing, China
Author of SourceIEEE Control Systems Society
Source PublicationProceedings of the 10th World Congress on Intelligent Control and Automation
PublisherIEEE
Publication PlaceNew York, USA
2012
Pages3800-3804
Indexed ByEI
EI Accession number20130415919672
Contribution Rank1
ISBN978-1-4673-1398-8
KeywordShape-shifting Modules Robot Skid-turning
Abstract

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.

Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10221
Collection机器人学研究室
Affiliation1.Robotics Laboratory of Chinese Academy of Sciences, Shenyang Institute of Automation (SIA), Liaoning Province, China
2.Department of Intelligent Robotics, University of Northeast, Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Chang J,Li B,Wu CD,et al. The Research of Shape-shifting Robot Skid-turning with Line Configuration[C]//IEEE Control Systems Society. New York, USA:IEEE,2012:3800-3804.
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