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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)
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
会议录名称Proceedings of the 10th World Congress on Intelligent Control and Automation
出版者IEEE
出版地New York, USA
2012
页码3800-3804
收录类别EI
EI收录号20130415919672
产权排序1
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.

语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10221
专题机器人学研究室
作者单位1.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
推荐引用方式
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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